UPDATE 使用深度图对齐彩色图的模式

Trace/handeye_calibration.py

@@ -56,7 +56,7 @@ def R_matrix(x,y,z,u,v,w):
 # 图像识别结果：xyz和法向量
 def getPosition(x,y,z,a,b,c,rotation,points):
     target = np.asarray([x, y, z,1])
-    camera2robot = np.loadtxt('./Trace/com_pose.txt', delimiter=' ') #相对目录且分隔符采用os.sep
+    camera2robot = np.loadtxt('./Trace/com_pose2.txt', delimiter=' ') #相对目录且分隔符采用os.sep
     # robot2base = rotation
     # camera2base = robot2base @ camera2robot
     target_position = np.dot(camera2robot, target)