Merge branch 'master' of http://git.wxchen.site/wxchen/maintain into da

modified:   src/yolov5_ros/src/yolov5/best.pt

.vscode/tasks.json

@@ -0,0 +1,18 @@
+{
+    "tasks": [
+        {
+            "type": "shell",
+            "command": "catkin",
+            "args": [
+                "build",
+                "-DPYTHON_EXECUTABLE=/home/da/miniconda3/envs/gsmini/bin/python",
+                //"-DPYTHON_EXECUTABLE=${HOME}/.conda/envs/gsmini/bin/python"
+            ],
+            "problemMatcher": [
+                "$catkin-gcc"
+            ],
+            "group": "build",
+            "label": "catkin: build"
+        }
+    ]
+}

src/maintain/scripts/test.py

@@ -1,4 +1,4 @@
-#! /home/wxchen/.conda/envs/gsmini/bin/python
+#! /home/da/miniconda3/envs/gsmini/bin/python
 
 import numpy as np
 import cv2 as cv
@@ -130,7 +130,6 @@ def box_callback(box, depth, color_info):
             # normal = calculate_image_edge_plane_normal(annulus_roi)
             # print(normal)
 
-
             # normal vector to quaternion
             screw_quat = tf.transformations.quaternion_from_euler(0, 0, 0)
             screw_quat[0] = normal_q[0]
@@ -158,10 +157,10 @@ def box_callback(box, depth, color_info):
             screw_tf.transform.translation.x = x
             screw_tf.transform.translation.y = y
             screw_tf.transform.translation.z = z
-            screw_tf.transform.rotation.x = screw_quat_filtered[0]
-            screw_tf.transform.rotation.y = screw_quat_filtered[1]
-            screw_tf.transform.rotation.z = screw_quat_filtered[2]
-            screw_tf.transform.rotation.w = screw_quat_filtered[3]
+            screw_tf.transform.rotation.x = screw_quat[0]
+            screw_tf.transform.rotation.y = screw_quat[1]
+            screw_tf.transform.rotation.z = screw_quat[2]
+            screw_tf.transform.rotation.w = screw_quat[3]
 
             tf_broadcaster.sendTransform(screw_tf)