Python学习笔记(手眼坐标转换)

Python学习笔记(手眼坐标转换)_第1张图片

 

import cv2 

import numpy as np

######图像坐标三个点
A= np.array([
    [221, 216, 1],
    [386, 203, 1 ],
    [228, 342, 1  ]
    ])
print(A)

######机械臂坐标三个点
B= np.array([
    [304.32, 10.96, 1 ],
    [305.17, -34.31, 1 ],
    [267.66, 11.62, 1  ]
    ])
print(B)

X=np.array([])
X=np.linalg.solve(A,B)  ###求解X矩阵
print(X)

a1 = np.array([221,216,1])
print(a1)
b1 = np.dot(X,a1)
print(b1)

 

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