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更新 Trace/handeye_calibration.py

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cdeyw
2024-12-17 11:52:34 +00:00
parent 2f440f9490
commit 2ead64867e
1 changed files with 2 additions and 2 deletions
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Trace/handeye_calibration.py
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@ -62,8 +62,8 @@ def getPosition(x,y,z,a,b,c,rotation,points):
target_position = np.dot(camera2robot, target)
corner_points_camera = np.asarray(points)
corner_points_base = np.dot(camera2robot[:3, :3], corner_points_camera.T).T + camera2robot[:3, 3]
edges = np.array([corner_points_base[i] - corner_points_base[i - 1] for i in range(len(corner_points_base))])
corner_points_base = np.dot(T_BC[:3, :3], corner_points_camera.T).T + T_BC[:3, 3]
edges = np.array([corner_points_base[1] - corner_points_base[0]]) # for i in range(len(corner_points_base))])
edge_lengths = np.linalg.norm(edges, axis=1)
min_edge_idx = np.argmin(edge_lengths)
short_edge_direction = edges[min_edge_idx] / edge_lengths[min_edge_idx] # 单位化方向向量