From 3125effe05872514d91b81b9695a4a15d0833404 Mon Sep 17 00:00:00 2001
From: Your Name <rungtarchit1@gmail.com>
Date: Tue, 6 Dec 2022 18:27:59 -0500
Subject: [PATCH] laser_check

---
 multi_calibration/launch/auto_calibration.launch  | 4 +++-
 multi_calibration/scrip/laser.sh                  | 1 +
 multi_calibration/scrip/vis_laser_calib_result.py | 7 +++++--
 3 files changed, 9 insertions(+), 3 deletions(-)
 mode change 100644 => 100755 multi_calibration/scrip/vis_laser_calib_result.py

diff --git a/multi_calibration/launch/auto_calibration.launch b/multi_calibration/launch/auto_calibration.launch
index dfa5d8f..80e031b 100644
--- a/multi_calibration/launch/auto_calibration.launch
+++ b/multi_calibration/launch/auto_calibration.launch
@@ -66,5 +66,7 @@
         <group if="$(eval arg('laser_cam') == 2)">
         <node name="foo" pkg="multi_calibration" type="laser.sh" output="screen" />
     </group>
-
+        <group if="$(eval arg('laser_cam') == 3)">
+        <node pkg="multi_calibration" name="laser_cali" type="vis_laser_calib_result.py" output="screen"/>
+    </group>
 </launch>
diff --git a/multi_calibration/scrip/laser.sh b/multi_calibration/scrip/laser.sh
index aaa7b42..d8310b1 100755
--- a/multi_calibration/scrip/laser.sh
+++ b/multi_calibration/scrip/laser.sh
@@ -5,3 +5,4 @@ source devel/setup.bash
 echo "[INFO] Calibrating camera-laser extrinsic. "
 rosrun multi_calibration Extrinsic_filter.py
 rosrun multi_calibration laser_calib -i ~/Calibration_ws/src/UR_arm_camera_calibration/multi_calibration/laser/Target_Image -c ~/Calibration_ws/src/UR_arm_camera_calibration/multi_calibration/cfg/laser_calib.yaml
+mv ./calib_results.txt ~/Calibration_ws/src/UR_arm_camera_calibration/multi_calibration/cfg/calib_results.txt
\ No newline at end of file
diff --git a/multi_calibration/scrip/vis_laser_calib_result.py b/multi_calibration/scrip/vis_laser_calib_result.py
old mode 100644
new mode 100755
index 27ca1eb..7cf6d90
--- a/multi_calibration/scrip/vis_laser_calib_result.py
+++ b/multi_calibration/scrip/vis_laser_calib_result.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # coding: utf-8
 
 import numpy as np
@@ -6,6 +6,8 @@
 from mpl_toolkits.mplot3d import axes3d, Axes3D
 import math
 import sys
+import os
+import glob
 
 def draw_frame(ax, R, t):
     axis_len = 0.05
@@ -22,7 +24,8 @@ def draw_frame(ax, R, t):
 
 
 # read plane parameters and laser points
-result_file = open(sys.argv[1])
+Home_path = os.path.expanduser('~') 
+result_file = open(Home_path +"/Calibration_ws/src/UR_arm_camera_calibration/multi_calibration/cfg/calib_results.txt")
 raw_data = result_file.readlines()
 plane_params = np.fromstring(raw_data[1].strip(), dtype=float, sep=',')
 print(plane_params)