82 lines
2.2 KiB
Python
82 lines
2.2 KiB
Python
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"""
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眼在手上 计算得是 相机相对于机械臂末端 齐次变换矩阵
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计算 这个矩阵需要得是 标定板相对于相机得次变换矩阵 * 相机相对于机械臂末端得齐次变换矩阵 * 机械臂末端相对于基座得齐次变换矩阵
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机械臂末端相对于基座得齐次变换矩阵（也就是机械臂位姿变换得齐次变换矩阵）
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"""
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import csv
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import os
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import numpy as np
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def euler_angles_to_rotation_matrix(rx, ry, rz):
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# 计算旋转矩阵
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Rx = np.array([[1, 0, 0],
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[0, np.cos(rx), -np.sin(rx)],
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[0, np.sin(rx), np.cos(rx)]])
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Ry = np.array([[np.cos(ry), 0, np.sin(ry)],
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[0, 1, 0],
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[-np.sin(ry), 0, np.cos(ry)]])
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Rz = np.array([[np.cos(rz), -np.sin(rz), 0],
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[np.sin(rz), np.cos(rz), 0],
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[0, 0, 1]])
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R = Rz@Ry@Rx
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return R
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def pose_to_homogeneous_matrix(pose):
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x, y, z, rx, ry, rz = pose
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R = euler_angles_to_rotation_matrix(rx, ry, rz)
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t = np.array([x, y, z]).reshape(3, 1)
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H = np.eye(4)
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H[:3, :3] = R
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H[:3, 3] = t[:, 0]
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return H
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def save_matrices_to_csv(matrices, file_name):
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rows, cols = matrices[0].shape
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num_matrices = len(matrices)
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combined_matrix = np.zeros((rows, cols * num_matrices))
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for i, matrix in enumerate(matrices):
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combined_matrix[:, i * cols: (i + 1) * cols] = matrix
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mode = 'a' if os.path.exists(file_name) else 'w'
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with open(file_name, mode, newline='') as csvfile:
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csv_writer = csv.writer(csvfile)
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for row in combined_matrix:
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csv_writer.writerow(row)
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def poses_main(filepath):
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# 打开文本文件
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with open(filepath, "r", encoding="utf-8") as f:
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# 读取文件中的所有行
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lines = f.readlines()
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# 定义一个空列表，用于存储结果
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# 遍历每一行数据
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lines = [float(i) for line in lines for i in line.split(',')]
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matrices = []
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for i in range(0,len(lines),6):
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matrices.append(pose_to_homogeneous_matrix(lines[i:i+6]))
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# 将齐次变换矩阵列表存储到 CSV 文件中
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save_matrices_to_csv(matrices, f'RobotToolPose.csv')
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