更新 Trace/handeye_calibration.py

2024-09-26 08:31:17 +00:00
parent caf2da3327
commit bd6576130b
1 changed files with 1 additions and 1 deletions
--- 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