2026-03-25 09:35:56 +08:00
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#ifndef VRHANDEYECALIBCONFIG_H
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#define VRHANDEYECALIBCONFIG_H
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#include <cstring>
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/**
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* @brief 手眼标定矩阵（多项目共用）
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2026-04-20 16:37:25 +08:00
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*
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* 每台相机独立保存：标定矩阵、欧拉角顺序以及工具坐标轴绕 X/Y/Z 三轴的补偿旋转。
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* 欧拉角顺序同时用于机器人法兰姿态的分解（输入）和工具姿态的合成（输出）。
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2026-04-23 09:01:05 +08:00
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* rotX/Y/Z : Eye 坐标系下施加的预补偿，按 Rx(rotX)*Ry(rotY)*Rz(rotZ) 合成（手眼变换之前）
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* outRotX/Y/Z: Robot 坐标系下施加的后补偿，按 Rx*Ry*Rz 合成（手眼变换之后、提欧拉角之前）
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* 用于把"算法定义的工具系"修正到"机器人期望的 TCP 系"，避免输出进入万向节锁。
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2026-03-25 09:35:56 +08:00
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*/
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struct VrHandEyeCalibMatrix
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{
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int cameraIndex;
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double matrix[16];
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int eulerOrder;
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2026-04-20 16:37:25 +08:00
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double rotX;
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double rotY;
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double rotZ;
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/* 接近点偏移 (mm): approach point offset along -axialDir (screw) / -normalDir (tool disk). */
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double approachOffset;
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2026-04-23 09:01:05 +08:00
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double outRotX;
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double outRotY;
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double outRotZ;
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2026-03-25 09:35:56 +08:00
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VrHandEyeCalibMatrix()
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: cameraIndex(1)
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, eulerOrder(11)
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2026-04-20 16:37:25 +08:00
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, rotX(0.0)
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, rotY(0.0)
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, rotZ(0.0)
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, approachOffset(0.0)
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2026-04-23 09:01:05 +08:00
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, outRotX(0.0)
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, outRotY(0.0)
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, outRotZ(15.0)
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2026-03-25 09:35:56 +08:00
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{
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double identity[16] = {
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1.0, 0.0, 0.0, 0.0,
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0.0, 1.0, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0
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};
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memcpy(matrix, identity, sizeof(matrix));
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}
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};
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#endif // VRHANDEYECALIBCONFIG_H
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