change kalman log info, image, angle fix

catkin_ws/src/asclinic_pkg/src/image.py

@@ -100,7 +100,8 @@ def answer_callback(msg, markers, publisher):
                 
                 x_avg += x
                 y_avg += y
-        
+    if valid_number==0:
+        return
     x_avg /= valid_number
     y_avg /= valid_number
     phi_avg = phi_avg