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。
2
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。
3
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.