将歐拉角轉換為旋轉矩陣（手眼标定）python版本

一、手眼矩陣的分類

1、歐拉角版

2、四元數版

3、旋轉矩陣版本

[
    [r11,r12,r13,x],
    [r21,r22,r23,y],
    [r31,r32,r33,z]
]
           

4、齊次矩陣

[
    [r11,r12,r13,x],
    [r21,r22,r23,y],
    [r31,r32,r33,z]，
    [0,  0,  0,  1]
]
           

二、手眼标定的分類

三、用python将歐拉角版轉換為齊次矩陣

import numpy as np
import math

def eulerAnglesToRotationMatrix(theta):
    R_x = np.array([[1, 0, 0],
                    [0, math.cos(theta[0]), -math.sin(theta[0])],
                    [0, math.sin(theta[0]), math.cos(theta[0])]])

    R_y = np.array([[math.cos(theta[1]), 0, math.sin(theta[1])],
                    [0, 1, 0],
                    [-math.sin(theta[1]), 0, math.cos(theta[1])]])

    R_z = np.array([[math.cos(theta[2]), -math.sin(theta[2]), 0],
                    [math.sin(theta[2]), math.cos(theta[2]), 0],
                    [0, 0, 1]])
    R = np.dot(R_x, np.dot(R_y, R_z))
    return R
# 需要将角度值轉換為弧度值
Rx = math.radians(189.4)
Ry = math.radians(0.6782)
Rz = math.radians(0.5492)
# 将轉換坐标輸入a
a = np.array([178.67, 731.98, 625.06])
theta = [Rx, Ry, Rz]
# 将轉換結果放入m
m = eulerAnglesToRotationMatrix(theta)
# 合成旋轉矩陣
d = np.array([0, 0, 0, 1])
b = np.row_stack((np.column_stack((m, a)), d))
n = np.array([[-63.51], [92.75], [723.51], [1]])
# 輸出轉換坐标
print(np.dot(b, n))
輸出結果：
[[ 122.8422612 ]
 [ 759.36439782]
 [-104.48517409]
 [   1.        ]]