From bd6576130b6fa8b12dfa676346bd3bfae467cff3 Mon Sep 17 00:00:00 2001
From: hjw <1576345902@qq.com>
Date: Thu, 26 Sep 2024 08:31:17 +0000
Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=20Trace/handeye=5Fcalibratio?=
 =?UTF-8?q?n.py?=
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---
 Trace/handeye_calibration.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Trace/handeye_calibration.py b/Trace/handeye_calibration.py
index b2f5626..4e2d7d9 100644
--- a/Trace/handeye_calibration.py
+++ b/Trace/handeye_calibration.py
@@ -3,7 +3,7 @@ from scipy.spatial.transform import Rotation as R
 
 def vec2rpy(normal,long_edge_direction):
     # 将法向量的反方向作为机械臂末端执行器的新Z轴
-    z_axis = -normal / np.linalg.norm(normal)  # 归一化并取反向作为Z轴
+    z_axis = normal / np.linalg.norm(normal)  # 归一化并取反向作为Z轴
     x_axis = long_edge_direction/np.linalg.norm(long_edge_direction)
 
     x_axis = x_axis-np.dot(x_axis,z_axis)*z_axis