update 初次融合+调试

Trace/handeye_calibration.py

@@ -58,12 +58,11 @@ def R_matrix(x,y,z,u,v,w):
 
     return transformation_matrix
 
-rotation = R_matrix(559.365,0.704,731.196,179.996,66.369,179.996)#张啸给我的值填这里
 
-# 黄老师给我的xyz和法向量
-def getPosition(x,y,z,a,b,c):
+# 图像识别结果：xyz和法向量
+def getPosition(x,y,z,a,b,c,rotation):
     target = np.asarray([x, y, z,1])
-    camera2robot = np.loadtxt('D:\BaiduNetdiskDownload\机械臂\GRCNN\\real\cam_pose.txt', delimiter=' ')
+    camera2robot = np.loadtxt('D:\BaiduNetdiskDownload\机械臂\GRCNN\\real\cam_pose.txt', delimiter=' ') #相对目录且分隔符采用os.sep
     robot2base = rotation
     camera2base = robot2base @ camera2robot
     target_position = np.dot(camera2base, target)
@@ -75,6 +74,3 @@ def getPosition(x,y,z,a,b,c):
     print(target_position, noraml_base)
 
     return target_position,noraml_base
-
-if __name__ =="__main__":
-    getPosition(-96.09919,56.339145,444.640084,-0.09619,-0.45399, 0.88579)