267 lines
10 KiB
Python
267 lines
10 KiB
Python
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import sys
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import time
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import numpy as np
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import cv2
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import glob
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from math import *
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import pandas as pd
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from pathlib import Path
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from COM.COM_Robot import RobotClient
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from app import MainWindow
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from Vision.tool.CameraRVC import camera
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from Model.RobotModel import DataAddress,MoveType
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from PySide6.QtWidgets import QMainWindow, QApplication, QLineEdit
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# 用于根据欧拉角计算旋转矩阵
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def myRPY2R_robot(x, y, z):
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Rx = np.array([[1, 0, 0], [0, cos(x), -sin(x)], [0, sin(x), cos(x)]]) # 这是将示教器上的角度转换成旋转矩阵
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Ry = np.array([[cos(y), 0, sin(y)], [0, 1, 0], [-sin(y), 0, cos(y)]])
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Rz = np.array([[cos(z), -sin(z), 0], [sin(z), cos(z), 0], [0, 0, 1]])
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# R = Rx@Ry@Rz
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R = Rz @ Ry @ Rx
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return R
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# 用于根据位姿计算变换矩阵
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def pose_robot(x, y, z, Tx, Ty, Tz):
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thetaX = Tx / 180 * pi
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thetaY = Ty / 180 * pi
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thetaZ = Tz / 180 * pi
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R = myRPY2R_robot(thetaX, thetaY, thetaZ)
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t = np.array([[x], [y], [z]])
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RT1 = np.column_stack([R, t]) # 列合并
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RT1 = np.row_stack((RT1, np.array([0, 0, 0, 1])))
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return RT1
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'''
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#用来从棋盘格图片得到相机外参
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:param img_path: 读取图片路径
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:param chess_board_x_num: 棋盘格x方向格子数
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:param chess_board_y_num: 棋盘格y方向格子数
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:param chess_board_len: 单位棋盘格长度,mm
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:param cam_mtx: 相机内参
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:param cam_dist: 相机畸变参数
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:return: 相机外参
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'''
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def get_RT_from_chessboard(img_path, chess_board_x_num, chess_board_y_num, chess_board_len, cam_mtx, cam_dist):
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# termination criteria
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criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
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# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
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# 标定板世界坐标
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objp = np.zeros((chess_board_y_num * chess_board_x_num, 3), np.float32)
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for m in range(chess_board_y_num):
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for n in range(chess_board_x_num):
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objp[m * chess_board_x_num + n] = [n * chess_board_len, m * chess_board_len, 0]
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# Arrays to store object points and image points from all the images.
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objpoints = [] # 3d point in real world space
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imgpoints = [] # 2d points in image plane.
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img = cv2.imread(img_path)
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gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
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# Find the chess board corners
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ret, corners = cv2.findChessboardCorners(gray, (chess_board_x_num, chess_board_y_num), None)
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# If found, add object points, image points (after refining them)
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if ret == True:
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objpoints.append(objp)
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corners2 = cv2.cornerSubPix(gray, corners, (11, 11), (-1, -1), criteria)
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imgpoints.append(corners2)
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retval, rvec, tvec = cv2.solvePnP(objpoints[0], imgpoints[0], cam_mtx, cam_dist)
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# print(rvec.reshape((1,3)))
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RT = np.column_stack(((cv2.Rodrigues(rvec))[0], tvec))
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RT = np.row_stack((RT, np.array([0, 0, 0, 1])))
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# print(RT)
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return RT
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return 0
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# 计算board to cam 变换矩阵
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# img_path = "./hand_eye" 棋盘格存放文件夹
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def get_chess_to_cam_mtx(img_path, chess_board_x_num, chess_board_y_num, chess_board_len, cam_mtx, cam_dist):
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img_path += "/*.jpg"
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R_all_chess_to_cam_1 = []
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T_all_chess_to_cam_1 = []
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images = glob.glob(img_path)
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for fname in images:
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RT = get_RT_from_chessboard(fname, chess_board_x_num, chess_board_y_num, chess_board_len, cam_mtx, cam_dist)
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R_all_chess_to_cam_1.append(RT[:3, :3])
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T_all_chess_to_cam_1.append(RT[:3, 3].reshape((3, 1)))
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return R_all_chess_to_cam_1, T_all_chess_to_cam_1
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def save_images(image, path, img_num):
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"""保存拍摄的图片"""
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img_path = path / f'image_{img_num}.png'
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cv2.imwrite(str(img_path), image)
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def save_pic_and_excel(): # 将机械臂的末端位姿保存在excel文件里,以及拍摄的图片保存在pic里# 动，拍照，保存
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robot.send_switch_tool_command()
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# 定义初始关节位置
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initial_joint_angles = [0, 0, 0, 0, 5, 0] # 初始关节角度
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move_step = 5 # 每次移动5度
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move_range = [-15, 15] # 关节移动的阈值范围
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# 保存 Excel 的路径和文件
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excel_path = Path("robot_calibration_data.xlsx")
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# 创建 DataFrame 来存储机械臂坐标
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data = {
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"x1": [], "x2": [], "x3": [],"x4": [],"x5": [],"x6": [],"image_path": []
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}
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img_num = 0 # 图片编号
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image_save_path = Path("calibration_images")
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image_save_path.mkdir(exist_ok=True) # 创建目录保存图像
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# 遍历各轴，依次移动
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for axis in range(6):
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if axis==4:
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continue
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for move in range(move_range[0], move_range[1] + 1, move_step):
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# 计算目标关节位置
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joint_angles = initial_joint_angles.copy()
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joint_angles[axis] = move
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# 移动机械臂到指定位置
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robot.send_position_command(*joint_angles,MoveType.AXIS)
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# 拍照
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time.sleep(10)
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_,rgb_image = ca.get_img()
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# 保存图片
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save_images(rgb_image, image_save_path, img_num)
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img_path = image_save_path / f'image_{img_num}.png'
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img_num += 1
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# 获取当前机械臂的世界坐标
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real_position = robot.robotClient.status_model.getRealPosition()
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x1 = real_position.X
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x2 = real_position.Y
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x3 = real_position.Z
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x4 = real_position.U
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x5 = real_position.V
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x6 = real_position.W
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# 保存数据到DataFrame
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data["x1"].append(x1)
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data["x2"].append(x2)
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data["x3"].append(x3)
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data["x4"].append(x4)
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data["x5"].append(x5)
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data["x6"].append(x6)
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data["image_path"].append(str(img_path))
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# 将数据写入Excel
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df = pd.DataFrame(data)
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df.to_excel(excel_path, index=False)
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print(f"数据已保存至 {excel_path}")
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# 计算end to base变换矩阵
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# path = "./hand_eye" 棋盘格和坐标文件存放文件夹
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def get_end_to_base_mtx(path):
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img_path = path + "image_/*.png"
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coord_file_path = path + '/robot_calibration_data.xlsx' # 从记录文件读取机器人六个位姿
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sheet_1 = pd.read_excel(coord_file_path)
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R_all_end_to_base_1 = []
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T_all_end_to_base_1 = []
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# print(sheet_1.iloc[0]['ax'])
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images = glob.glob(img_path)
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# print(len(images))
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for i in range(len(images)):
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pose_str = sheet_1.values[i][0]
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pose_array = [float(num) for num in pose_str[1:-1].split(',')]
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# print(pose_array)
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RT = pose_robot(pose_array[0], pose_array[1], pose_array[2], pose_array[3], pose_array[4], pose_array[5])
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R_all_end_to_base_1.append(RT[:3, :3])
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T_all_end_to_base_1.append(RT[:3, 3].reshape((3, 1)))
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return R_all_end_to_base_1, T_all_end_to_base_1
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if __name__ == "__main__":
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print("手眼标定测试\n")
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app = QApplication(sys.argv)
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robot = MainWindow()
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ca = camera()
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dataaddress = DataAddress()
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# 相机内参
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cam_mtx = np.array([[2402.1018066406, 0.0000000000, 739.7069091797],
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[0.0000000000, 2401.7873535156, 584.7304687500],
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[0.00000000e+00, 0.00000000e+00, 1.00000000e+00]], dtype=np.float64)
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# 畸变系数
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cam_dist = np.array([-0.0424814112, 0.2438604534, -0.3833343089, -0.3833343089, 0.0007602088],
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dtype=np.float64)
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save_pic_and_excel()
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chess_board_x_num = 12 - 1 # 标定板长度
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chess_board_y_num = 9 - 1
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chess_board_len = 30 / 1000
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path = "./calibration_images"
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R_all_chess_to_cam_1, T_all_chess_to_cam_1 = get_chess_to_cam_mtx(path, chess_board_x_num, chess_board_y_num,
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chess_board_len, cam_mtx, cam_dist)
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R_all_end_to_base_1, T_all_end_to_base_1 = get_end_to_base_mtx(path)
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R, T = cv2.calibrateHandEye(R_all_end_to_base_1, T_all_end_to_base_1, R_all_chess_to_cam_1, T_all_chess_to_cam_1,
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cv2.CALIB_HAND_EYE_TSAI) # 手眼标定
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RT = np.column_stack((R, T))
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RT = np.row_stack((RT, np.array([0, 0, 0, 1]))) # 即为cam to end变换矩阵00
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print('相机相对于末端的变换矩阵为：')
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print(RT)
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chess_base_mtx = np.zeros((4, 4), np.float32)
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# 结果验证,原则上来说,每次结果相差较小
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for i in range(20):
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RT_end_to_base = np.column_stack((R_all_end_to_base_1[i], T_all_end_to_base_1[i]))
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RT_end_to_base = np.row_stack((RT_end_to_base, np.array([0, 0, 0, 1])))
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RT_chess_to_cam = np.column_stack((R_all_chess_to_cam_1[i], T_all_chess_to_cam_1[i]))
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RT_chess_to_cam = np.row_stack((RT_chess_to_cam, np.array([0, 0, 0, 1])))
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RT_cam_to_end = np.column_stack((R, T))
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RT_cam_to_end = np.row_stack((RT_cam_to_end, np.array([0, 0, 0, 1])))
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R_cam_to_end = RT_cam_to_end[:3, :3]
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T_cam_to_end = RT_cam_to_end[:3, 3]
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rotation_vector, _ = cv2.Rodrigues(R_cam_to_end)
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print("11111111", rotation_vector)
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print("222222222", R_cam_to_end)
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thetaX = rotation_vector[0][0] * 180 / pi
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thetaY = rotation_vector[1][0] * 180 / pi
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thetaZ = rotation_vector[2][0] * 180 / pi
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# print(RT_cam_to_end)
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RT_chess_to_base = RT_end_to_base @ RT_cam_to_end @ RT_chess_to_cam # 即为固定的棋盘格相对于机器人基坐标系位姿
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print('')
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print(RT_chess_to_base)
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chess_base_mtx += RT_chess_to_base
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chess_pose = np.array([0, 0, 0, 1])
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# 转换棋盘坐标到像素坐标
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world_pose = RT_chess_to_base @ chess_pose.T
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cam_pose = np.linalg.inv(RT_end_to_base @ RT_cam_to_end) @ world_pose
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print(cam_pose)
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# cam_pose = RT_chess_to_cam@chess_pose.T
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zero3 = np.zeros((3, 1))
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imgTocam_matrix = np.hstack((cam_mtx, zero3)) # 3*4 矩阵
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imgTocam_matrix = np.row_stack((imgTocam_matrix, np.array([0, 0, 0, 1])))
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img_pose = imgTocam_matrix @ (cam_pose / cam_pose[2])
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# 像素坐标转换为世界坐标（机械臂基坐标）
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cam_pose = np.linalg.inv(imgTocam_matrix) @ img_pose
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cam_pose = cam_pose * (1 / cam_pose[3])
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world_pose = RT_end_to_base @ RT_cam_to_end @ cam_pose
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print(chess_base_mtx / 20)
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