HiveCoreRD/hivecore_robot_vision
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头部相机标定文件

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liangyuxuan
2025-12-19 15:50:59 +08:00
parent 727b191a2a
commit b8444c82b9
4 changed files with 38 additions and 8 deletions
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28
calibration_mat/eye_to_hand.json Normal file
View File

@@ -0,0 +1,28 @@
{
"T": [
[
0.01868075138315295,
0.8881359544145228,
0.45920099738999437,
-0.19284748723617093
],
[
0.002854261818715398,
-0.4593266423892484,
0.8882628489252997,
0.057154511710361816
],
[
0.9998214254141742,
-0.01528273756969839,
-0.011115539354645598,
-0.04187423675125192
],
[
0.0,
0.0,
0.0,
1.0
]
]
}

4
tools/calibration_tools.py
View File

@@ -192,13 +192,13 @@ class _Calibration:
np.linalg.inv(
self._function(
self._hand[i], self._hand[i + 1], self._hand[i + 2],
self._hand[i + 3], self._hand[i + 4], self._hand[i + 5], self._hand[i + 6]
self._hand[i + 6], self._hand[i + 3], self._hand[i + 4], self._hand[i + 5]
)
)
if self._mode == 'eye_to_hand' else
self._function(
self._hand[i], self._hand[i + 1], self._hand[i + 2],
self._hand[i + 3], self._hand[i + 4], self._hand[i + 5], self._hand[i + 6]
self._hand[i + 6], self._hand[i + 3], self._hand[i + 4], self._hand[i + 5]
)
)
self._Hcs.append(

2
tools/error_calculation_tool.py
View File

@@ -52,7 +52,7 @@ def calculate(mode, hand_path, camera_path, hand_eye_path):
for i in range(sum_):
hand = [hand_all[i*7], hand_all[i*7+1], hand_all[i*7+2], hand_all[i*7+3], hand_all[i*7+4], hand_all[i*7+5], hand_all[i*7+6]]
camera = [camera_all[i*7], camera_all[i*7+1], camera_all[i*7+2], camera_all[i*7+3], camera_all[i*7+4], camera_all[i*7+5], camera_all[i*7+6]]
T_hand_in_base = get_matrix_quat(hand[0], hand[1], hand[2], hand[3], hand[4], hand[5], hand[6])
T_hand_in_base = get_matrix_quat(hand[0], hand[1], hand[2], hand[6], hand[3], hand[4], hand[5])
T_cal_in_camera = get_matrix_quat(camera[0], camera[1], camera[2], camera[3], camera[4], camera[5], camera[6])
if mode == "eye_to_hand":

12
vision_detect/vision_detect/get_camera_pose.py
View File

@@ -70,6 +70,13 @@ class GetCameraPose(Node):
self.get_logger().info(f"Have not camera data")
return
def timer_callback(self):
self.collect = self.get_parameter('start_collect_once').value
self.save = self.get_parameter('save').value
self.class_name = self.get_parameter('class_name').value
if self.save:
print(self.camera)
self.get_logger().info(f'Save as camera_pose_data.json')
@@ -78,11 +85,6 @@ class GetCameraPose(Node):
self.done = True
def timer_callback(self):
self.collect = self.get_parameter('start_collect_once').value
self.save = self.get_parameter('save').value
self.class_name = self.get_parameter('class_name').value
def main(args=None):
rclpy.init(args=args)