旋转操作加速版本

2026-10-20 09:18:24 +08:00
parent 55acdb638d
commit e80edd7b5e
164 changed files with 39439 additions and 32292 deletions
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+# 手眼标定结果
+# mode: eye_to_hand
+# camera_source: d435
+# views: 24
+# utc: 2026-10-12T05:20:30.137123+00:00
+# board: 11x8 square_m=0.02
+# gripper_tool: tool10120938
+# T_4x4 = cam→基座（AX=XB 的手是 TCP，不折到法兰）
+# 旧结果备份在 results/backup/
+gripper_tool: tool10120938
+T_flange_to_tool:
+  - [1.00000000, 0.00000000, 0.00000000, -0.00050000]
+  - [0.00000000, 1.00000000, 0.00000000, 0.00670000]
+  - [0.00000000, 0.00000000, 1.00000000, 0.22450000]
+  - [0.00000000, 0.00000000, 0.00000000, 1.00000000]
+# T_cam_to_base (eye_to_hand)
+translation_m: [0.37094529, -0.52805928, 0.73745585]
+T_4x4:
+  - [-0.00990083, 0.99909706, -0.04131632, 0.37094529]
+  - [0.99991380, 0.01024832, 0.00820703, -0.52805928]
+  - [0.00862304, -0.04123150, -0.99911241, 0.73745585]
+  - [0.00000000, 0.00000000, 0.00000000, 1.00000000]
@@ -0,0 +1,28 @@
+# 手眼标定结果
+# mode: eye_in_hand
+# camera_source: d405_left
+# views: 21
+# utc: 2026-10-12T03:29:51.243487+00:00
+# board: 11x8 square_m=0.015
+# gripper_tool: tool10120938
+# T_4x4 = cam→法兰（AX=XB 在 TCP 上解，再左乘 T_flange_to_tool）
+# T_cam_to_tool 是原始求解；旧的法兰/tool1 备份在 results/backup/
+# 2026-10-12 第一次写出的 T_4x4 乘序反了（tz≈-296 mm），已按同一份 T_cam_to_tool 重折。
+gripper_tool: tool10120938
+T_flange_to_tool:
+  - [1.00000000, 0.00000000, 0.00000000, -0.00050000]
+  - [0.00000000, 1.00000000, 0.00000000, 0.00670000]
+  - [0.00000000, 0.00000000, 1.00000000, 0.22450000]
+  - [0.00000000, 0.00000000, 0.00000000, 1.00000000]
+T_cam_to_tool:
+  - [-0.03435184, -0.86951953, 0.49270249, -0.05961995]
+  - [0.99932767, -0.03620511, 0.00577974, -0.01523625]
+  - [0.01281276, 0.49256977, 0.87017863, -0.09761517]
+  - [0.00000000, 0.00000000, 0.00000000, 1.00000000]
+# T_cam_to_flange (eye_in_hand，由工具 TCP 折算)
+translation_m: [-0.06011995, -0.00853625, 0.12688483]
+T_4x4:
+  - [-0.03435184, -0.86951953, 0.49270249, -0.06011995]
+  - [0.99932767, -0.03620511, 0.00577974, -0.00853625]
+  - [0.01281276, 0.49256977, 0.87017863, 0.12688483]
+  - [0.00000000, 0.00000000, 0.00000000, 1.00000000]