The original texture coordinate and height values are already represented in tangent space, so the eye vector must be as well.
原始的材质贴图坐标和高度数据已经在切线空间中了，因此视向量最好也能如此。
The robot plane eye-in-hand visual system transformation is deduced in detail and the coordinate transformation is achieved from the visual plane to the robot reference coordinate system.
详细推导了机器人平面手眼视觉系统变换关系，完成了从视觉平面坐标系到机器人参考坐标系的坐标变换。
The method is keeping the rotation array between robot's connecting-rod 3 and robot reference coordinate constant, which can simplify the complicated hand-eye calibration and camera calibration.
该方法通过保持机器人连杆三到机器人基坐标系的旋转矩阵恒定来直接获得世界坐标，简化复杂的手眼标定和相机标定。
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