Transform Pixel Coordinate to Coordinate in Arm

• Function:

  beta_go.imgxy_to_armxy(px,py,need_tranxy,suck_apriltag,apriltag_h)
  

• Description: transform pixel coordinate to coordinate in robot arm system

• Required parameter:

  • px: x-axis pixel coordinate
  • py: y-axis pixel coordinate
  • need_tranxy: 0: the robot arm is above the pallet; 1: the robot arm is above the ground
  • suck_apriltag: whether the object is labeled with Apriltag; 0: no; 1: yes
  • apriltag_h: height of object with Apriltag

• Return: x-axis and y-axis coordinate in the robot arm coordinate system

• Example

  Mx，My = beta_go.imgxy_to_armxy(px=0, py=0, need_tranxy=0, suck_apriltag=0, apriltag_h=10)
  

  Transform pixel coordinate (0, 0) to coordinate in robot arm system.