From 1aa3e974b0c0e5704f7cca0bbf4e9ad6694e258f Mon Sep 17 00:00:00 2001
From: raiot <raiot.lee@outlook.com>
Date: Fri, 8 Nov 2024 10:18:42 +0800
Subject: [PATCH] some update from robot side

---
 arm_debug.py            |  15 +++++++++++++--
 camera_params.npz       | Bin 0 -> 1210 bytes
 utils/location_calib.py |   2 +-
 utils/pixel_convert.py  |   6 +++---
 4 files changed, 17 insertions(+), 6 deletions(-)
 create mode 100644 camera_params.npz

diff --git a/arm_debug.py b/arm_debug.py
index 283efc0..4b77090 100644
--- a/arm_debug.py
+++ b/arm_debug.py
@@ -18,8 +18,8 @@ ele_point = (-110, -50.94, 75)
 
 # px, py = input("请输入像素坐标：").split()
 # px, py = int(px), int(py)
-target = pixel2robot(877, 628)
-print(target)
+# target = pixel2robot(877, 628)
+# print(target)
 
 # jetmax.set_position((target[0], target[1], -30), 1)
 # jetmax.set_position((-75.41654829, -156.86319459, 70), 1)
@@ -27,3 +27,14 @@ jetmax.set_position(ele_point, 1)
 time.sleep(1)
 
 print(jetmax.position)
+
+def move_to_pixel_position(x, y):
+    target = pixel2robot(x, y)
+    print(target)
+    jetmax.set_position((target[0], target[1], -30), 1)
+
+if __name__ == "__main__":
+    pix_pos = input("分别输入 pixspy 上测得的横坐标和纵坐标，用空格分开：")
+    print(pix_pos)
+    x, y = pix_pos.split()
+    move_to_pixel_position(int(x), int(y))
\ No newline at end of file
diff --git a/camera_params.npz b/camera_params.npz
new file mode 100644
index 0000000000000000000000000000000000000000..75c81dcbe17cb8ac10d26207111b61bca9ecbced
GIT binary patch
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HcmV?d00001

diff --git a/utils/location_calib.py b/utils/location_calib.py
index cd77e48..5674010 100644
--- a/utils/location_calib.py
+++ b/utils/location_calib.py
@@ -22,7 +22,7 @@ obj_points = []
 img_points = []
 
 # 读取标定板图像
-images = ["1723983285.6120198.jpg"]  # 替换为实际的图像文件
+images = ["1724898532.521401.jpg"]  # 替换为实际的图像文件
 
 for fname in images:
     img = cv2.imread(fname)
diff --git a/utils/pixel_convert.py b/utils/pixel_convert.py
index c55278d..a30f77f 100644
--- a/utils/pixel_convert.py
+++ b/utils/pixel_convert.py
@@ -54,7 +54,7 @@ def pixel2robot(p_x, p_y, Zc=380):
                 [0, -1, 0],
                 [0, 0, 0]])
                     
-    taT = np.array([-1.5, -216, -30])
+    taT = np.array([-15.5, -187, -30])
     # print(np.dot(taR, base_coords))
     base_coords = np.dot(taR, base_coords) + taT
     # base_coords = base_coords + taT
@@ -79,11 +79,11 @@ def pixel2robot(p_x, p_y, Zc=380):
 # print(covert([993,10],260))
 # print(covert([554,559],260))
 
-# 604, 109   [-115, -150.94, -25]
+# 485，300  [-135, -135.94, -30]
 
 if __name__ == '__main__':
     # print(pixel2robot(468, 254))
-    print(pixel2robot(469, 254))
+    print(pixel2robot(485, 300))
     # print(pixel2robot(956, 448))