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3dvision's Introduction

3dvision

这是一个简单的机器臂+相机的坐标系模拟程序,以后会逐步加功能;

目前模拟的是只有两个自由度的机器臂,大概如下:

                        camera
                         /
                       /
                      /
                    dof1
                     |
                     |
                     |
                     |
                    dof0
      1 and 0 是两个可旋转的伺服电机

用半圆来模拟相机得到的点云,用半圆的位置和朝向来判断坐标变换是否正确;

py文件是用open3d进行可视化的脚本。

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