{"id":61025,"date":"2026-01-16T21:57:45","date_gmt":"2026-01-16T13:57:45","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/61025.html"},"modified":"2026-01-16T21:57:45","modified_gmt":"2026-01-16T13:57:45","slug":"%e6%89%8b%e7%9c%bc%e6%a0%87%e5%ae%9a%ef%bc%9a%e5%8e%9f%e7%90%86%e8%af%a6%e8%a7%a3%e4%b8%8ec%e5%ae%9e%e6%88%98","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/61025.html","title":{"rendered":"\u624b\u773c\u6807\u5b9a\uff1a\u539f\u7406\u8be6\u89e3\u4e0eC++\u5b9e\u6218"},"content":{"rendered":"<p>\u597d\u7684&#xff0c;\u6211\u4eec\u6765\u8be6\u7ec6\u63a2\u8ba8\u624b\u773c\u6807\u5b9a\u7684\u76f8\u5173\u5185\u5bb9&#xff0c;\u5305\u62ec\u6982\u8ff0\u3001\u539f\u7406\u3001\u5e38\u7528\u65b9\u6cd5\u6c47\u603b\u4ee5\u53caC&#043;&#043;\u4ee3\u7801\u5b9e\u6218\u3002<\/p>\n<hr \/>\n<h4>&#xff08;\u4e8c&#xff09;\u624b\u773c\u6807\u5b9a\u2014\u2014\u6982\u8ff0&#043;\u539f\u7406&#043;\u5e38\u7528\u65b9\u6cd5\u6c47\u603b&#043;\u4ee3\u7801\u5b9e\u6218&#xff08;C&#043;&#043;&#xff09;<\/h4>\n<hr \/>\n<h5>1. \u6982\u8ff0<\/h5>\n<p>\u624b\u773c\u6807\u5b9a&#xff08;Hand-Eye Calibration&#xff09; \u662f\u673a\u5668\u4eba\u89c6\u89c9\u9886\u57df\u7684\u4e00\u9879\u5173\u952e\u6280\u672f&#xff0c;\u65e8\u5728\u786e\u5b9a\u673a\u5668\u4eba\u672b\u7aef\u6267\u884c\u5668&#xff08;\u624b&#xff09;\u4e0e\u76f8\u673a&#xff08;\u773c&#xff09;\u4e4b\u95f4\u7684\u7a7a\u95f4\u53d8\u6362\u5173\u7cfb\u3002\u5176\u6838\u5fc3\u76ee\u6807\u662f\u89e3\u51b3\u4ee5\u4e0b\u95ee\u9898&#xff1a;<\/p>\n<ul>\n<li>\u773c\u5728\u624b\u5916&#xff08;Eye-to-Hand&#xff09;&#xff1a;\u76f8\u673a\u56fa\u5b9a\u4e8e\u573a\u666f\u4e2d&#xff0c;\u6807\u5b9a\u76f8\u673a\u5750\u6807\u7cfb\u5230\u673a\u5668\u4eba\u57fa\u5750\u6807\u7cfb\u7684\u53d8\u6362\u3002<\/li>\n<li>\u773c\u5728\u624b\u4e0a&#xff08;Eye-in-Hand&#xff09;&#xff1a;\u76f8\u673a\u5b89\u88c5\u5728\u673a\u5668\u4eba\u672b\u7aef&#xff0c;\u6807\u5b9a\u76f8\u673a\u5750\u6807\u7cfb\u5230\u672b\u7aef\u6267\u884c\u5668\u5750\u6807\u7cfb\u7684\u53d8\u6362\u3002<\/li>\n<\/ul>\n<p>\u6807\u5b9a\u7cbe\u5ea6\u76f4\u63a5\u5f71\u54cd\u673a\u5668\u4eba\u6293\u53d6\u3001\u89c6\u89c9\u5f15\u5bfc\u7b49\u4efb\u52a1\u7684\u51c6\u786e\u6027&#xff0c;\u662f\u673a\u5668\u4eba\u611f\u77e5\u4e0e\u63a7\u5236\u7684\u57fa\u7840\u73af\u8282\u3002<\/p>\n<hr \/>\n<h5>2. \u539f\u7406<\/h5>\n<p>\u624b\u773c\u6807\u5b9a\u7684\u6570\u5b66\u6a21\u578b\u57fa\u4e8e\u9f50\u6b21\u53d8\u6362\u77e9\u9635\u3002\u5047\u8bbe&#xff1a;<\/p>\n<ul>\n<li>$T_{\\\\text{base}}^{\\\\text{end}}$&#xff1a;\u673a\u5668\u4eba\u57fa\u5750\u6807\u7cfb\u5230\u672b\u7aef\u5750\u6807\u7cfb\u7684\u53d8\u6362&#xff08;\u7531\u673a\u5668\u4eba\u63a7\u5236\u5668\u63d0\u4f9b&#xff09;\u3002<\/li>\n<li>$T_{\\\\text{cam}}^{\\\\text{obj}}$&#xff1a;\u76f8\u673a\u5750\u6807\u7cfb\u5230\u6807\u5b9a\u677f\u5750\u6807\u7cfb\u7684\u53d8\u6362&#xff08;\u7531\u76f8\u673a\u6807\u5b9a\u5f97\u5230&#xff09;\u3002<\/li>\n<li>$X$&#xff1a;\u5f85\u6c42\u7684\u624b\u773c\u53d8\u6362\u77e9\u9635&#xff08;\u672b\u7aef\u5750\u6807\u7cfb\u5230\u76f8\u673a\u5750\u6807\u7cfb&#xff09;\u3002<\/li>\n<\/ul>\n<p>\u5bf9\u4e8e\u773c\u5728\u624b\u4e0a\u7cfb\u7edf&#xff0c;\u8fd0\u52a8\u8fc7\u7a0b\u4e2d\u6ee1\u8db3&#xff1a; $$ T_{\\\\text{base}}^{\\\\text{end}} \\\\cdot X \\\\cdot T_{\\\\text{cam}}^{\\\\text{obj}} &#061; T_{\\\\text{base}}^{\\\\text{obj}} $$ \u63a8\u5bfc\u5f97\u7ecf\u5178\u65b9\u7a0b&#xff1a; $$ A \\\\cdot X &#061; X \\\\cdot B $$ \u5176\u4e2d&#xff1a;<\/p>\n<ul>\n<li>$A &#061; T_{\\\\text{end}_i}^{\\\\text{end}_j}$&#xff08;\u4e24\u6b21\u8fd0\u52a8\u7684\u672b\u7aef\u76f8\u5bf9\u53d8\u6362&#xff09;\u3002<\/li>\n<li>$B &#061; T_{\\\\text{cam}_i}^{\\\\text{cam}_j}$&#xff08;\u4e24\u6b21\u8fd0\u52a8\u7684\u76f8\u673a\u76f8\u5bf9\u53d8\u6362&#xff09;\u3002<\/li>\n<\/ul>\n<p>\u901a\u8fc7\u591a\u7ec4 $(A, B)$ \u6570\u636e\u6c42\u89e3 $X$&#xff0c;\u5373\u53ef\u5b8c\u6210\u6807\u5b9a\u3002<\/p>\n<hr \/>\n<h5>3. \u5e38\u7528\u65b9\u6cd5\u6c47\u603b<\/h5>\n<table>\n<tr>\u65b9\u6cd5\u6838\u5fc3\u601d\u60f3\u7279\u70b9<\/tr>\n<tbody>\n<tr>\n<td>1. \u65cb\u8f6c\u5411\u91cf\u6cd5<\/td>\n<td>\u5206\u89e3\u65cb\u8f6c\u548c\u5e73\u79fb&#xff0c;\u5148\u6c42\u89e3\u65cb\u8f6c\u77e9\u9635\u518d\u8ba1\u7b97\u5e73\u79fb\u5411\u91cf<\/td>\n<td>\u8ba1\u7b97\u7b80\u5355&#xff0c;\u5bf9\u566a\u58f0\u654f\u611f<\/td>\n<\/tr>\n<tr>\n<td>2. \u56db\u5143\u6570\u6cd5<\/td>\n<td>\u4f7f\u7528\u56db\u5143\u6570\u8868\u793a\u65cb\u8f6c&#xff0c;\u4f18\u5316\u65cb\u8f6c\u8bef\u5dee<\/td>\n<td>\u6570\u503c\u7a33\u5b9a\u6027\u597d&#xff0c;\u9002\u5408\u5927\u89d2\u5ea6\u8fd0\u52a8<\/td>\n<\/tr>\n<tr>\n<td>3. \u77e9\u9635\u65b9\u7a0b\u6cd5<\/td>\n<td>\u6784\u9020\u8d85\u5b9a\u65b9\u7a0b\u7ec4 $AX &#061; XB$&#xff0c;\u901a\u8fc7SVD\u5206\u89e3\u6c42\u89e3<\/td>\n<td>\u7cbe\u5ea6\u9ad8&#xff0c;\u901a\u7528\u6027\u5f3a<\/td>\n<\/tr>\n<tr>\n<td>4. \u975e\u7ebf\u6027\u4f18\u5316\u6cd5<\/td>\n<td>\u5c06\u95ee\u9898\u8f6c\u5316\u4e3a\u4f18\u5316\u95ee\u9898&#xff08;\u5982Levenberg-Marquardt&#xff09;&#xff0c;\u6700\u5c0f\u5316\u91cd\u6295\u5f71\u8bef\u5dee<\/td>\n<td>\u6297\u566a\u58f0\u80fd\u529b\u5f3a&#xff0c;\u8ba1\u7b97\u590d\u6742<\/td>\n<\/tr>\n<tr>\n<td>5. \u4e5d\u70b9\u6cd5&#xff08;\u7ecf\u5178&#xff09;<\/td>\n<td>\u79fb\u52a8\u6807\u5b9a\u677f\u81f39\u4e2a\u4e0d\u540c\u4f4d\u7f6e&#xff0c;\u91c7\u96c6\u6570\u636e\u6c42\u89e3<\/td>\n<td>\u64cd\u4f5c\u7b80\u4fbf&#xff0c;\u5de5\u4e1a\u5e38\u7528<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<hr \/>\n<h5>4. \u4ee3\u7801\u5b9e\u6218&#xff08;C&#043;&#043;&#xff09;<\/h5>\n<p>\u4ee5\u4e0b\u4ee5\u77e9\u9635\u65b9\u7a0b\u6cd5\u4e3a\u4f8b&#xff0c;\u4f7f\u7528OpenCV\u548cEigen\u5e93\u5b9e\u73b0\u773c\u5728\u624b\u4e0a\u7cfb\u7edf\u6807\u5b9a&#xff1a;<\/p>\n<p>#include &lt;opencv2\/opencv.hpp&gt;<br \/>\n#include &lt;Eigen\/Dense&gt;<br \/>\n#include &lt;vector&gt;<\/p>\n<p>using namespace std;<br \/>\nusing namespace cv;<br \/>\nusing namespace Eigen;<\/p>\n<p>\/\/ \u5b9a\u4e49\u9f50\u6b21\u53d8\u6362\u77e9\u9635\u7ed3\u6784\u4f53<br \/>\nstruct Transform {<br \/>\n    Matrix3d R;<br \/>\n    Vector3d t;<br \/>\n    Matrix4d H() const {<br \/>\n        Matrix4d H &#061; Matrix4d::Identity();<br \/>\n        H.block&lt;3,3&gt;(0,0) &#061; R;<br \/>\n        H.block&lt;3,1&gt;(0,3) &#061; t;<br \/>\n        return H;<br \/>\n    }<br \/>\n};<\/p>\n<p>\/\/ \u6c42\u89e3\u624b\u773c\u6807\u5b9a\u77e9\u9635X: AX &#061; XB<br \/>\nTransform handEyeCalibration(const vector&lt;Transform&gt;&amp; A_motions, const vector&lt;Transform&gt;&amp; B_motions) {<br \/>\n    int n &#061; A_motions.size();<br \/>\n    MatrixXd M(6*n, 6); \/\/ \u6784\u9020\u65b9\u7a0b\u77e9\u9635<\/p>\n<p>    for (int i &#061; 0; i &lt; n; &#043;&#043;i) {<br \/>\n        Matrix3d RA &#061; A_motions[i].R;<br \/>\n        Vector3d tA &#061; A_motions[i].t;<br \/>\n        Matrix3d RB &#061; B_motions[i].R;<br \/>\n        Vector3d tB &#061; B_motions[i].t;<\/p>\n<p>        \/\/ \u6784\u9020\u65cb\u8f6c\u90e8\u5206\u65b9\u7a0b: kron(I, RA) &#8211; kron(RB^T, I)<br \/>\n        MatrixXd blockRot &#061; MatrixXd::Zero(9, 9);<br \/>\n        blockRot.block&lt;3,3&gt;(0,0) &#061; RA &#8211; RB(0,0)*Matrix3d::Identity();<br \/>\n        \/\/ &#8230;&#xff08;\u5b8c\u6574\u6784\u90209&#215;9\u5757&#xff0c;\u6b64\u5904\u7b80\u5316&#xff09;<\/p>\n<p>        \/\/ \u6784\u9020\u5e73\u79fb\u90e8\u5206\u65b9\u7a0b: (I &#8211; RA) * tX &#061; tA &#8211; RB * tX ?&#xff08;\u5b9e\u9645\u9700\u5c55\u5f00&#xff09;<br \/>\n        \/\/ \u6b64\u5904\u7b80\u5316\u4e3a\u7ebf\u6027\u65b9\u7a0b\u5f62\u5f0f<br \/>\n        M.block&lt;6,6&gt;(6*i, 0) &lt;&lt; RA &#8211; Matrix3d::Identity(), -skewSymmetric(tA),<br \/>\n                                 Matrix3d::Zero(),          RA &#8211; Matrix3d::Identity();<br \/>\n    }<\/p>\n<p>    \/\/ SVD\u5206\u89e3\u6c42\u89e3<br \/>\n    JacobiSVD&lt;MatrixXd&gt; svd(M, ComputeThinU | ComputeThinV);<br \/>\n    VectorXd x &#061; svd.solve(VectorXd::Zero(6*n)); \/\/ \u53f3\u4fa7\u4e3a0\u5411\u91cf<\/p>\n<p>    \/\/ \u63d0\u53d6\u7ed3\u679c<br \/>\n    Transform X;<br \/>\n    X.R &#061; AngleAxisd(x(0), Vector3d(x(1), x(2), x(3))).toRotationMatrix(); \/\/ \u65cb\u8f6c\u5411\u91cf\u8f6c\u77e9\u9635<br \/>\n    X.t &lt;&lt; x(3), x(4), x(5);<br \/>\n    return X;<br \/>\n}<\/p>\n<p>\/\/ \u6d4b\u8bd5\u793a\u4f8b<br \/>\nint main() {<br \/>\n    vector&lt;Transform&gt; A, B;<br \/>\n    \/\/ \u586b\u5145\u6a21\u62df\u6570\u636e&#xff08;\u5b9e\u9645\u9700\u4ece\u673a\u5668\u4eba\/\u76f8\u673a\u8bfb\u53d6&#xff09;<br \/>\n    for (int i &#061; 0; i &lt; 10; &#043;&#043;i) {<br \/>\n        Transform a, b;<br \/>\n        a.R &#061; AngleAxisd(i*0.1, Vector3d::UnitZ()).toRotationMatrix();<br \/>\n        a.t &lt;&lt; 0.1*i, 0, 0;<br \/>\n        b.R &#061; AngleAxisd(i*0.05, Vector3d::UnitX()).toRotationMatrix();<br \/>\n        b.t &lt;&lt; 0, 0.2*i, 0;<br \/>\n        A.push_back(a);<br \/>\n        B.push_back(b);<br \/>\n    }<\/p>\n<p>    Transform X &#061; handEyeCalibration(A, B);<br \/>\n    cout &lt;&lt; &#034;Calibration Result:\\\\nRotation:\\\\n&#034; &lt;&lt; X.R &lt;&lt; &#034;\\\\nTranslation:\\\\n&#034; &lt;&lt; X.t &lt;&lt; endl;<br \/>\n    return 0;<br \/>\n}<\/p>\n<hr \/>\n<h5>5. \u5173\u952e\u6b65\u9aa4\u8bf4\u660e<\/h5>\n<li>\u6570\u636e\u91c7\u96c6&#xff1a;\u673a\u5668\u4eba\u672b\u7aef\u79fb\u52a8\u81f3\u4e0d\u540c\u4f4d\u59ff&#xff0c;\u540c\u65f6\u91c7\u96c6\u6807\u5b9a\u677f\u5728\u76f8\u673a\u4e2d\u7684\u4f4d\u59ff\u3002<\/li>\n<li>\u76f8\u5bf9\u53d8\u6362\u8ba1\u7b97&#xff1a;\u8ba1\u7b97\u76f8\u90bb\u4f4d\u59ff\u95f4\u7684\u76f8\u5bf9\u53d8\u6362 $A_i$&#xff08;\u672b\u7aef&#xff09;\u548c $B_i$&#xff08;\u76f8\u673a&#xff09;\u3002<\/li>\n<li>\u65b9\u7a0b\u6784\u9020&#xff1a;\u5c06 $A_i X &#061; X B_i$ \u5c55\u5f00\u4e3a\u7ebf\u6027\u65b9\u7a0b\u7ec4\u3002<\/li>\n<li>SVD\u6c42\u89e3&#xff1a;\u901a\u8fc7\u5947\u5f02\u503c\u5206\u89e3\u6c42\u6700\u5c0f\u4e8c\u4e58\u89e3&#xff0c;\u5f97\u5230 $X$\u3002<\/li>\n<li>\u7ed3\u679c\u9a8c\u8bc1&#xff1a;\u8ba1\u7b97\u6807\u5b9a\u8bef\u5dee&#xff08;\u5982\u91cd\u6295\u5f71\u8bef\u5dee&#xff09;\u8bc4\u4f30\u7cbe\u5ea6\u3002<\/li>\n<hr \/>\n<h5>6. \u6ce8\u610f\u4e8b\u9879<\/h5>\n<ul>\n<li>\u8fd0\u52a8\u8981\u6c42&#xff1a;\u673a\u5668\u4eba\u9700\u8fdb\u884c\u5145\u5206\u65cb\u8f6c\u548c\u5e73\u79fb\u8fd0\u52a8&#xff0c;\u907f\u514d\u9000\u5316\u914d\u7f6e&#xff08;\u5982\u7eaf\u5e73\u79fb&#xff09;\u3002<\/li>\n<li>\u566a\u58f0\u5904\u7406&#xff1a;\u53ef\u52a0\u5165RANSAC\u5254\u9664\u5f02\u5e38\u70b9\u3002<\/li>\n<li>\u6807\u5b9a\u677f\u7cbe\u5ea6&#xff1a;\u76f8\u673a\u6807\u5b9a\u7cbe\u5ea6\u76f4\u63a5\u5f71\u54cd\u624b\u773c\u6807\u5b9a\u7ed3\u679c\u3002<\/li>\n<\/ul>\n<p>\u901a\u8fc7\u4e0a\u8ff0\u6d41\u7a0b&#xff0c;\u53ef\u9ad8\u6548\u5b8c\u6210\u624b\u773c\u7cfb\u7edf\u7684\u6807\u5b9a&#xff0c;\u4e3a\u673a\u5668\u4eba\u89c6\u89c9\u4efb\u52a1\u5960\u5b9a\u57fa\u7840\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u597d\u7684&#xff0c;\u6211\u4eec\u6765\u8be6\u7ec6\u63a2\u8ba8\u624b\u773c\u6807\u5b9a\u7684\u76f8\u5173\u5185\u5bb9&#xff0c;\u5305\u62ec\u6982\u8ff0\u3001\u539f\u7406\u3001\u5e38\u7528\u65b9\u6cd5\u6c47\u603b\u4ee5\u53caC\u4ee3\u7801\u5b9e\u6218\u3002&#xff08;\u4e8c&#xff09;\u624b\u773c\u6807\u5b9a\u2014\u2014\u6982\u8ff0\u539f\u7406\u5e38\u7528\u65b9\u6cd5\u6c47\u603b\u4ee3\u7801\u5b9e\u6218&#xff08;C&#xff09;1. \u6982\u8ff0\u624b\u773c\u6807\u5b9a&#xff08;Hand-Eye Calibration&#xff09; \u662f\u673a\u5668\u4eba\u89c6\u89c9\u9886\u57df\u7684\u4e00\u9879\u5173\u952e\u6280\u672f&#xff0c;\u65e8\u5728\u786e\u5b9a\u673a\u5668\u4eba\u672b\u7aef\u6267\u884c\u5668&#xff08;\u624b&#xff09;\u4e0e\u76f8\u673a&#xff08;\u773c&#xff09;\u4e4b\u95f4\u7684\u7a7a\u95f4\u53d8\u6362\u5173\u7cfb\u3002\u5176\u6838<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[5557],"topic":[],"class_list":["post-61025","post","type-post","status-publish","format-standard","hentry","category-server","tag-5557"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u624b\u773c\u6807\u5b9a\uff1a\u539f\u7406\u8be6\u89e3\u4e0eC++\u5b9e\u6218 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/61025.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u624b\u773c\u6807\u5b9a\uff1a\u539f\u7406\u8be6\u89e3\u4e0eC++\u5b9e\u6218 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"\u597d\u7684&#xff0c;\u6211\u4eec\u6765\u8be6\u7ec6\u63a2\u8ba8\u624b\u773c\u6807\u5b9a\u7684\u76f8\u5173\u5185\u5bb9&#xff0c;\u5305\u62ec\u6982\u8ff0\u3001\u539f\u7406\u3001\u5e38\u7528\u65b9\u6cd5\u6c47\u603b\u4ee5\u53caC\u4ee3\u7801\u5b9e\u6218\u3002&#xff08;\u4e8c&#xff09;\u624b\u773c\u6807\u5b9a\u2014\u2014\u6982\u8ff0\u539f\u7406\u5e38\u7528\u65b9\u6cd5\u6c47\u603b\u4ee3\u7801\u5b9e\u6218&#xff08;C&#xff09;1. \u6982\u8ff0\u624b\u773c\u6807\u5b9a&#xff08;Hand-Eye Calibration&#xff09; \u662f\u673a\u5668\u4eba\u89c6\u89c9\u9886\u57df\u7684\u4e00\u9879\u5173\u952e\u6280\u672f&#xff0c;\u65e8\u5728\u786e\u5b9a\u673a\u5668\u4eba\u672b\u7aef\u6267\u884c\u5668&#xff08;\u624b&#xff09;\u4e0e\u76f8\u673a&#xff08;\u773c&#xff09;\u4e4b\u95f4\u7684\u7a7a\u95f4\u53d8\u6362\u5173\u7cfb\u3002\u5176\u6838\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.wsisp.com\/helps\/61025.html\" \/>\n<meta property=\"og:site_name\" content=\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"article:published_time\" content=\"2026-01-16T13:57:45+00:00\" \/>\n<meta name=\"author\" content=\"admin\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"admin\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"2 \u5206\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/61025.html\",\"url\":\"https:\/\/www.wsisp.com\/helps\/61025.html\",\"name\":\"\u624b\u773c\u6807\u5b9a\uff1a\u539f\u7406\u8be6\u89e3\u4e0eC++\u5b9e\u6218 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\",\"isPartOf\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/#website\"},\"datePublished\":\"2026-01-16T13:57:45+00:00\",\"dateModified\":\"2026-01-16T13:57:45+00:00\",\"author\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41\"},\"breadcrumb\":{\"@id\":\"https:\/\/www.wsisp.com\/helps\/61025.html#breadcrumb\"},\"inLanguage\":\"zh-Hans\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\/\/www.wsisp.com\/helps\/61025.html\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/61025.html#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"\u9996\u9875\",\"item\":\"https:\/\/www.wsisp.com\/helps\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"\u624b\u773c\u6807\u5b9a\uff1a\u539f\u7406\u8be6\u89e3\u4e0eC++\u5b9e\u6218\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#website\",\"url\":\"https:\/\/www.wsisp.com\/helps\/\",\"name\":\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\",\"description\":\"\u9999\u6e2f\u670d\u52a1\u5668_\u9999\u6e2f\u4e91\u670d\u52a1\u5668\u8d44\u8baf_\u670d\u52a1\u5668\u5e2e\u52a9\u6587\u6863_\u670d\u52a1\u5668\u6559\u7a0b\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\/\/www.wsisp.com\/helps\/?s={search_term_string}\"},\"query-input\":\"required name=search_term_string\"}],\"inLanguage\":\"zh-Hans\"},{\"@type\":\"Person\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41\",\"name\":\"admin\",\"image\":{\"@type\":\"ImageObject\",\"inLanguage\":\"zh-Hans\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/image\/\",\"url\":\"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery\",\"contentUrl\":\"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery\",\"caption\":\"admin\"},\"sameAs\":[\"http:\/\/wp.wsisp.com\"],\"url\":\"https:\/\/www.wsisp.com\/helps\/author\/admin\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"\u624b\u773c\u6807\u5b9a\uff1a\u539f\u7406\u8be6\u89e3\u4e0eC++\u5b9e\u6218 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/www.wsisp.com\/helps\/61025.html","og_locale":"zh_CN","og_type":"article","og_title":"\u624b\u773c\u6807\u5b9a\uff1a\u539f\u7406\u8be6\u89e3\u4e0eC++\u5b9e\u6218 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","og_description":"\u597d\u7684&#xff0c;\u6211\u4eec\u6765\u8be6\u7ec6\u63a2\u8ba8\u624b\u773c\u6807\u5b9a\u7684\u76f8\u5173\u5185\u5bb9&#xff0c;\u5305\u62ec\u6982\u8ff0\u3001\u539f\u7406\u3001\u5e38\u7528\u65b9\u6cd5\u6c47\u603b\u4ee5\u53caC\u4ee3\u7801\u5b9e\u6218\u3002&#xff08;\u4e8c&#xff09;\u624b\u773c\u6807\u5b9a\u2014\u2014\u6982\u8ff0\u539f\u7406\u5e38\u7528\u65b9\u6cd5\u6c47\u603b\u4ee3\u7801\u5b9e\u6218&#xff08;C&#xff09;1. \u6982\u8ff0\u624b\u773c\u6807\u5b9a&#xff08;Hand-Eye Calibration&#xff09; \u662f\u673a\u5668\u4eba\u89c6\u89c9\u9886\u57df\u7684\u4e00\u9879\u5173\u952e\u6280\u672f&#xff0c;\u65e8\u5728\u786e\u5b9a\u673a\u5668\u4eba\u672b\u7aef\u6267\u884c\u5668&#xff08;\u624b&#xff09;\u4e0e\u76f8\u673a&#xff08;\u773c&#xff09;\u4e4b\u95f4\u7684\u7a7a\u95f4\u53d8\u6362\u5173\u7cfb\u3002\u5176\u6838","og_url":"https:\/\/www.wsisp.com\/helps\/61025.html","og_site_name":"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","article_published_time":"2026-01-16T13:57:45+00:00","author":"admin","twitter_card":"summary_large_image","twitter_misc":{"\u4f5c\u8005":"admin","\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4":"2 \u5206"},"schema":{"@context":"https:\/\/schema.org","@graph":[{"@type":"WebPage","@id":"https:\/\/www.wsisp.com\/helps\/61025.html","url":"https:\/\/www.wsisp.com\/helps\/61025.html","name":"\u624b\u773c\u6807\u5b9a\uff1a\u539f\u7406\u8be6\u89e3\u4e0eC++\u5b9e\u6218 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","isPartOf":{"@id":"https:\/\/www.wsisp.com\/helps\/#website"},"datePublished":"2026-01-16T13:57:45+00:00","dateModified":"2026-01-16T13:57:45+00:00","author":{"@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41"},"breadcrumb":{"@id":"https:\/\/www.wsisp.com\/helps\/61025.html#breadcrumb"},"inLanguage":"zh-Hans","potentialAction":[{"@type":"ReadAction","target":["https:\/\/www.wsisp.com\/helps\/61025.html"]}]},{"@type":"BreadcrumbList","@id":"https:\/\/www.wsisp.com\/helps\/61025.html#breadcrumb","itemListElement":[{"@type":"ListItem","position":1,"name":"\u9996\u9875","item":"https:\/\/www.wsisp.com\/helps"},{"@type":"ListItem","position":2,"name":"\u624b\u773c\u6807\u5b9a\uff1a\u539f\u7406\u8be6\u89e3\u4e0eC++\u5b9e\u6218"}]},{"@type":"WebSite","@id":"https:\/\/www.wsisp.com\/helps\/#website","url":"https:\/\/www.wsisp.com\/helps\/","name":"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3","description":"\u9999\u6e2f\u670d\u52a1\u5668_\u9999\u6e2f\u4e91\u670d\u52a1\u5668\u8d44\u8baf_\u670d\u52a1\u5668\u5e2e\u52a9\u6587\u6863_\u670d\u52a1\u5668\u6559\u7a0b","potentialAction":[{"@type":"SearchAction","target":{"@type":"EntryPoint","urlTemplate":"https:\/\/www.wsisp.com\/helps\/?s={search_term_string}"},"query-input":"required name=search_term_string"}],"inLanguage":"zh-Hans"},{"@type":"Person","@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/358e386c577a3ab51c4493330a20ad41","name":"admin","image":{"@type":"ImageObject","inLanguage":"zh-Hans","@id":"https:\/\/www.wsisp.com\/helps\/#\/schema\/person\/image\/","url":"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery","contentUrl":"https:\/\/gravatar.wp-china-yes.net\/avatar\/?s=96&d=mystery","caption":"admin"},"sameAs":["http:\/\/wp.wsisp.com"],"url":"https:\/\/www.wsisp.com\/helps\/author\/admin"}]}},"_links":{"self":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts\/61025","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/comments?post=61025"}],"version-history":[{"count":0,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/posts\/61025\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/media?parent=61025"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/categories?post=61025"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/tags?post=61025"},{"taxonomy":"topic","embeddable":true,"href":"https:\/\/www.wsisp.com\/helps\/wp-json\/wp\/v2\/topic?post=61025"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}