UPDATE 使用深度图对齐彩色图的模式

Trace/README.md

@@ -1,3 +1,7 @@
+# com_pose.txt  彩色图对齐深度图
+# com_pose2.txt 深度图对齐彩色图
+
+
 # 路径处理
 
 使用model的Position类和Expection的code定义

Trace/com_pose2.txt

@@ -0,0 +1,4 @@
+9.6751729364544639e-02 -9.9459449602428807e-01 3.7694712403242861e-02 4.1708226127179734e+02
+-9.9527317207468335e-01 -9.6998182736478769e-02 -4.7608291523444628e-03 1.9086796578832980e+03
+8.3914130733227475e-03 -3.7055917530319504e-02 -9.9927796091108601e-01 2.7052748714031904e+03
+0. 0. 0. 1

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)