490 lines
17 KiB
C++
490 lines
17 KiB
C++
#include "PoseAxesBuilder.h"
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#include "CoordinateTransform.h"
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#include "DetectPresenter.h" // for HandEyeExtrinsic
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#include "DiscHolePoseTCPProtocol.h" // for RobotPose6D
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#include <cmath>
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#endif
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namespace {
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constexpr double kVectorEpsilon = 1e-8;
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constexpr double kRotationEpsilon = 1e-9;
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double DotProduct(const CTVec3D& a, const CTVec3D& b)
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{
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return a.x * b.x + a.y * b.y + a.z * b.z;
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}
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CTVec3D CrossProduct(const CTVec3D& a, const CTVec3D& b)
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{
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return CTVec3D(a.y * b.z - a.z * b.y,
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a.z * b.x - a.x * b.z,
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a.x * b.y - a.y * b.x);
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}
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CTVec3D ToCTVec3D(const SVzNL3DPoint& point)
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{
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return CTVec3D(point.x, point.y, point.z);
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}
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double WrapDegreesTo180(double deg)
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{
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while (deg > 180.0) {
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deg -= 360.0;
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}
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while (deg <= -180.0) {
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deg += 360.0;
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}
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return deg;
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}
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// 对 Tait-Bryan 欧拉角做等价归一化，使 pitch 属于 [-90 度, 90 度]。
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// 依据：(alpha, beta, gamma) 等价于 (alpha +/- 180 度, 180 度 - beta, gamma +/- 180 度) 以及 (alpha +/- 180 度, -180 度 - beta, gamma +/- 180 度)，
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// 适用于 CTEulerOrder 中所有 12 种 Tait-Bryan 顺序（内旋/外旋一致）。
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void NormalizePitchRange(double& rollDeg, double& pitchDeg, double& yawDeg)
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{
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pitchDeg = WrapDegreesTo180(pitchDeg);
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if (pitchDeg > 90.0) {
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pitchDeg = 180.0 - pitchDeg;
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rollDeg += 180.0;
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yawDeg += 180.0;
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} else if (pitchDeg < -90.0) {
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pitchDeg = -180.0 - pitchDeg;
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rollDeg += 180.0;
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yawDeg += 180.0;
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}
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rollDeg = WrapDegreesTo180(rollDeg);
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yawDeg = WrapDegreesTo180(yawDeg);
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}
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// 万向锁消歧：当 |pitch| 接近 90 度 时，Rz(yaw).Ry(pitch).Rx(roll) 的分解退化成一个自由度。
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// 严格展开可得：
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// pitch = +90 度 -> R 只依赖 (roll - yaw)；任意满足 roll - yaw = const 的组合都表示同一 R
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// pitch = -90 度 -> R 只依赖 (roll + yaw)；任意满足 roll + yaw = const 的组合都表示同一 R
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// 本函数把 yaw 锚定到 refYaw 附近，把剩余自由度放到 roll，让不同帧的输出稳定落在
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// 参考（通常是机器人法兰的 rx/rz）附近。阈值覆盖 80 度 - 85 度：
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// |pitch| < 80 度：完全不改（保留真实分解）
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// |pitch| >= 85 度：完全锁到参考（对 R 影响最小）
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// 80 度 <= |pitch| < 85 度：线性插值过渡
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void ResolveGimbalAmbiguity(double& rollDeg, double pitchDeg, double& yawDeg,
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double refRollDeg, double refYawDeg)
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{
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constexpr double kSoftThresholdDeg = 80.0;
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constexpr double kHardThresholdDeg = 85.0;
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const double absPitch = std::abs(pitchDeg);
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if (absPitch < kSoftThresholdDeg) {
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return;
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}
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// 不变量方向与 pitch 符号的关系（由 Rz.Ry.Rx 展开式导出）：
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// pitch > 0 -> inv = roll - yaw
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// pitch < 0 -> inv = roll + yaw
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const bool positivePitch = (pitchDeg >= 0.0);
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const double sum = positivePitch ? (rollDeg - yawDeg) : (rollDeg + yawDeg);
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const double refSum = positivePitch ? (refRollDeg - refYawDeg) : (refRollDeg + refYawDeg);
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double adjustedSum = sum;
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while (adjustedSum - refSum > 180.0) { adjustedSum -= 360.0; }
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while (adjustedSum - refSum < -180.0) { adjustedSum += 360.0; }
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const double fullYaw = WrapDegreesTo180(refYawDeg);
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const double fullRoll = WrapDegreesTo180(positivePitch ? (adjustedSum + fullYaw)
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: (adjustedSum - fullYaw));
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if (absPitch >= kHardThresholdDeg) {
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rollDeg = fullRoll;
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yawDeg = fullYaw;
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return;
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}
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const double alpha = (absPitch - kSoftThresholdDeg) /
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(kHardThresholdDeg - kSoftThresholdDeg);
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auto lerpAngle = [alpha](double from, double to) {
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const double diff = WrapDegreesTo180(to - from);
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return WrapDegreesTo180(from + alpha * diff);
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};
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rollDeg = lerpAngle(rollDeg, fullRoll);
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yawDeg = lerpAngle(yawDeg, fullYaw);
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}
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// 从单一法向量 Z 轴构造完整正交三元组（X/Y 自动补全）。
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// 用于 NormalDirToPoseAngles：算法只给出孔的法向量，需要补全姿态。
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bool BuildFrameFromZAxis(const CTVec3D& zAxisInput, std::array<CTVec3D, 3>& axes)
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{
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const CTVec3D zAxis = PoseAxesBuilder::NormalizeVector(zAxisInput);
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if (!PoseAxesBuilder::IsValidVector(zAxis)) {
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return false;
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}
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const CTVec3D worldY(0.0, 1.0, 0.0);
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const CTVec3D worldX(1.0, 0.0, 0.0);
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// 尝试 Z x worldY 得到 X 轴
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CTVec3D xAxis = PoseAxesBuilder::NormalizeVector(CrossProduct(zAxis, worldY));
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if (!PoseAxesBuilder::IsValidVector(xAxis)) {
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// Z 轴与 worldY 近共线，改用 worldX
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xAxis = PoseAxesBuilder::NormalizeVector(CrossProduct(zAxis, worldX));
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}
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if (!PoseAxesBuilder::IsValidVector(xAxis)) {
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return false;
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}
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const CTVec3D yAxis = PoseAxesBuilder::NormalizeVector(CrossProduct(zAxis, xAxis));
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if (!PoseAxesBuilder::IsValidVector(yAxis)) {
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return false;
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}
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axes = {xAxis, yAxis, zAxis};
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return true;
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}
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// 公共手眼变换构建：从 clibMatrix + robotPose + extrinsic 产出一个 eyeInHandTransform，
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// 同时返回 order / rxDeg / rzDeg 供后续欧拉提取和万向锁消歧使用。
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void BuildEyeInHandTransform(const double matrix16[16],
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const RobotPose6D& robotPose,
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const HandEyeExtrinsic& extrinsic,
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int poseOutputOrder,
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CTHomogeneousMatrix& eyeInHandTransform,
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CTEulerOrder& order,
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double& rxDeg,
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double& rzDeg)
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{
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const CTHomogeneousMatrix handEyeMatrix = PoseAxesBuilder::BuildHandEyeMatrix(matrix16);
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order = static_cast<CTEulerOrder>(extrinsic.eulerOrder);
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double ryDeg = 0.0;
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PoseAxesBuilder::ResolveRobotPoseAnglesDegrees(robotPose, poseOutputOrder, rxDeg, ryDeg, rzDeg);
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const CTRobotPose flangePose =
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CTRobotPose::fromDegrees(robotPose.x, robotPose.y, robotPose.z, rxDeg, ryDeg, rzDeg);
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eyeInHandTransform =
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CCoordinateTransform::sixAxisEyeInHandBuildTransform(flangePose, order, handEyeMatrix);
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}
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// 填充输出位姿：将 Eye 系点经手眼变换后加上 offset，封装欧拉角。
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void FillOutputPose(const CTVec3D& eyePoint,
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const CTHomogeneousMatrix& eyeInHandTransform,
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const HandEyeExtrinsic& extrinsic,
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const PoseAxesBuilder::PoseAngles& angles,
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double& outX,
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double& outY,
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double& outZ,
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double& outRoll,
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double& outPitch,
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double& outYaw)
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{
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const CTVec3D robotPoint = eyeInHandTransform.transformPoint(eyePoint);
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outX = robotPoint.x + extrinsic.offsetX;
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outY = robotPoint.y + extrinsic.offsetY;
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outZ = robotPoint.z + extrinsic.offsetZ;
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outRoll = angles.rollDeg;
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outPitch = angles.pitchDeg;
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outYaw = angles.yawDeg;
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}
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} // namespace
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namespace PoseAxesBuilder
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{
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CTVec3D NormalizeVector(const CTVec3D& v)
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{
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const double length = v.norm();
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if (length < kVectorEpsilon) {
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return CTVec3D();
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}
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return v * (1.0 / length);
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}
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bool IsValidVector(const CTVec3D& v)
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{
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return v.norm() >= kVectorEpsilon;
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}
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CTHomogeneousMatrix BuildHandEyeMatrix(const double matrix16[16])
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{
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CTHomogeneousMatrix handEyeMatrix;
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for (int row = 0; row < 4; ++row) {
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for (int col = 0; col < 4; ++col) {
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handEyeMatrix.at(row, col) = matrix16[row * 4 + col];
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}
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}
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return handEyeMatrix;
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}
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void ResolveRobotPoseAnglesDegrees(const RobotPose6D& robotPose,
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int poseOutputOrder,
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double& rxDeg,
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double& ryDeg,
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double& rzDeg)
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{
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switch (poseOutputOrder) {
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case 1:
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rxDeg = robotPose.a;
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ryDeg = robotPose.b;
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rzDeg = robotPose.c;
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break;
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case 2:
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rxDeg = robotPose.b;
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ryDeg = robotPose.a;
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rzDeg = robotPose.c;
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break;
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case 3:
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rxDeg = robotPose.c;
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ryDeg = robotPose.a;
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rzDeg = robotPose.b;
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break;
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case 4:
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rxDeg = robotPose.b;
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ryDeg = robotPose.c;
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rzDeg = robotPose.a;
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break;
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case 5:
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rxDeg = robotPose.c;
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ryDeg = robotPose.b;
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rzDeg = robotPose.a;
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break;
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case 0:
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default:
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rxDeg = robotPose.a;
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ryDeg = robotPose.b;
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rzDeg = robotPose.c;
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break;
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}
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}
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bool BuildAnchoredFrame(const CTVec3D& primary,
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const CTVec3D& referenceY,
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std::array<CTVec3D, 3>& axes,
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double minPerpendicularity)
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{
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const CTVec3D xAxis = NormalizeVector(primary);
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if (!IsValidVector(xAxis)) {
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return false;
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}
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const CTVec3D refY = NormalizeVector(referenceY);
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if (!IsValidVector(refY)) {
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return false;
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}
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// Gram-Schmidt：refY 投影到与 X 垂直的平面。
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// |yRaw| = sin(refY 与 X 的夹角)。小于阈值则两者近共线、副轴方向无意义。
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const CTVec3D yRaw = refY - xAxis * DotProduct(refY, xAxis);
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if (yRaw.norm() < minPerpendicularity) {
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return false;
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}
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const CTVec3D yAxis = NormalizeVector(yRaw);
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const CTVec3D zAxis = NormalizeVector(CrossProduct(xAxis, yAxis));
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if (!IsValidVector(zAxis)) {
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return false;
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}
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axes = {xAxis, yAxis, zAxis};
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return true;
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}
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void ApplyAxesRotation(std::array<CTVec3D, 3>& axes,
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double rotXDeg,
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double rotYDeg,
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double rotZDeg)
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{
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if (std::fabs(rotXDeg) < kRotationEpsilon &&
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std::fabs(rotYDeg) < kRotationEpsilon &&
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std::fabs(rotZDeg) < kRotationEpsilon) {
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return;
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}
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const double rx = rotXDeg * M_PI / 180.0;
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const double ry = rotYDeg * M_PI / 180.0;
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const double rz = rotZDeg * M_PI / 180.0;
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const double cx = std::cos(rx), sx = std::sin(rx);
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const double cy = std::cos(ry), sy = std::sin(ry);
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const double cz = std::cos(rz), sz = std::sin(rz);
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// R = Rx(rx) * Ry(ry) * Rz(rz)；对工具三轴（列向量）右乘 R，等价于在工具自身坐标系
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// 内按内旋 XYZ 顺序施加补偿旋转。
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double R[3][3];
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R[0][0] = cy * cz;
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R[0][1] = -cy * sz;
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R[0][2] = sy;
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R[1][0] = sx * sy * cz + cx * sz;
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R[1][1] = -sx * sy * sz + cx * cz;
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R[1][2] = -sx * cy;
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R[2][0] = -cx * sy * cz + sx * sz;
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R[2][1] = cx * sy * sz + sx * cz;
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R[2][2] = cx * cy;
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const CTVec3D oldX = axes[0];
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const CTVec3D oldY = axes[1];
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const CTVec3D oldZ = axes[2];
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axes[0] = oldX * R[0][0] + oldY * R[1][0] + oldZ * R[2][0];
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axes[1] = oldX * R[0][1] + oldY * R[1][1] + oldZ * R[2][1];
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axes[2] = oldX * R[0][2] + oldY * R[1][2] + oldZ * R[2][2];
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}
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bool TransformAxes(const std::array<CTVec3D, 3>& srcAxes,
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const CTHomogeneousMatrix& transform,
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std::array<CTVec3D, 3>& dstAxes)
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{
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for (size_t i = 0; i < srcAxes.size(); ++i) {
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dstAxes[i] = NormalizeVector(transform.transformVector(srcAxes[i]));
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if (!IsValidVector(dstAxes[i])) {
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return false;
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}
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}
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return true;
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}
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CTRotationMatrix BuildRotationMatrix(const std::array<CTVec3D, 3>& axes)
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{
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CTRotationMatrix rotation;
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rotation.at(0, 0) = axes[0].x;
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rotation.at(0, 1) = axes[1].x;
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rotation.at(0, 2) = axes[2].x;
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rotation.at(1, 0) = axes[0].y;
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rotation.at(1, 1) = axes[1].y;
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rotation.at(1, 2) = axes[2].y;
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rotation.at(2, 0) = axes[0].z;
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rotation.at(2, 1) = axes[1].z;
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rotation.at(2, 2) = axes[2].z;
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return rotation;
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}
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void RotationMatrixToConfiguredEulerDegrees(const CTRotationMatrix& rotation,
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CTEulerOrder order,
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double& rollDeg,
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double& pitchDeg,
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double& yawDeg)
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{
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const CTEulerAngles euler = CCoordinateTransform::rotationMatrixToEuler(rotation, order);
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euler.toDegrees(rollDeg, pitchDeg, yawDeg);
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NormalizePitchRange(rollDeg, pitchDeg, yawDeg);
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}
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bool ComputeRobotPoseAngles(const std::array<CTVec3D, 3>& eyeAxes,
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const CTHomogeneousMatrix& eyeInHandTransform,
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const HandEyeExtrinsic& extrinsic,
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CTEulerOrder eulerOrder,
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double refRollDeg,
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double refYawDeg,
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PoseAngles& outAngles)
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{
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std::array<CTVec3D, 3> eyeAxesWorking = eyeAxes;
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// 1) Eye 系内补偿
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ApplyAxesRotation(eyeAxesWorking, extrinsic.rotX, extrinsic.rotY, extrinsic.rotZ);
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// 2) Eye -> Robot 变换
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std::array<CTVec3D, 3> robotAxes;
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if (!TransformAxes(eyeAxesWorking, eyeInHandTransform, robotAxes)) {
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return false;
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}
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// 3) Robot 系内补偿
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ApplyAxesRotation(robotAxes, extrinsic.outRotX, extrinsic.outRotY, extrinsic.outRotZ);
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// 4) 提欧拉角 + 万向锁消歧
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const CTRotationMatrix robotRotation = BuildRotationMatrix(robotAxes);
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RotationMatrixToConfiguredEulerDegrees(robotRotation, eulerOrder,
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outAngles.rollDeg,
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outAngles.pitchDeg,
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outAngles.yawDeg);
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ResolveGimbalAmbiguity(outAngles.rollDeg, outAngles.pitchDeg, outAngles.yawDeg,
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refRollDeg, refYawDeg);
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return true;
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}
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// ============ 砂轮盘孔定位专用工具 ============
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bool PointPoseToEuler(const SSG_pointPose& pointPose,
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const double handEyeMatrix[16],
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const HandEyeExtrinsic& extrinsic,
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const RobotPose6D& robotPose,
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double& outX,
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double& outY,
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double& outZ,
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double& outRoll,
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double& outPitch,
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double& outYaw,
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int poseOutputOrder)
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{
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// 从 SSG_pointPose 的三轴向量构造 Eye 系三元组
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std::array<CTVec3D, 3> eyeAxes;
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const CTVec3D eyeXAxis = NormalizeVector(ToCTVec3D(pointPose.pose_x));
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const CTVec3D eyeYAxis = NormalizeVector(ToCTVec3D(pointPose.pose_y));
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if (!BuildAnchoredFrame(eyeXAxis, eyeYAxis, eyeAxes)) {
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return false;
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}
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// 构建手眼变换
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CTHomogeneousMatrix eyeInHandTransform;
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CTEulerOrder order = CTEulerOrder::sZYX;
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double rxDeg = 0.0;
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double rzDeg = 0.0;
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BuildEyeInHandTransform(handEyeMatrix, robotPose, extrinsic, poseOutputOrder,
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eyeInHandTransform, order, rxDeg, rzDeg);
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// 计算欧拉角
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PoseAngles angles;
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if (!ComputeRobotPoseAngles(eyeAxes, eyeInHandTransform, extrinsic, order, rxDeg, rzDeg, angles)) {
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return false;
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}
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// 填充输出
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const CTVec3D eyePoint = ToCTVec3D(pointPose.point);
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FillOutputPose(eyePoint, eyeInHandTransform, extrinsic, angles,
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outX, outY, outZ, outRoll, outPitch, outYaw);
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return true;
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}
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bool NormalDirToPoseAngles(const SVzNL3DPoint& center,
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const SVzNL3DPoint& normDir,
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const double handEyeMatrix[16],
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const HandEyeExtrinsic& extrinsic,
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const RobotPose6D& robotPose,
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double& outX,
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double& outY,
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double& outZ,
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double& outRoll,
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double& outPitch,
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double& outYaw,
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int poseOutputOrder)
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{
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// 从单一法向量构造 Eye 系三元组（Z = normDir，X/Y 自动补全）
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std::array<CTVec3D, 3> eyeAxes;
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if (!BuildFrameFromZAxis(ToCTVec3D(normDir), eyeAxes)) {
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return false;
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}
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// 构建手眼变换
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CTHomogeneousMatrix eyeInHandTransform;
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CTEulerOrder order = CTEulerOrder::sZYX;
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double rxDeg = 0.0;
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double rzDeg = 0.0;
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BuildEyeInHandTransform(handEyeMatrix, robotPose, extrinsic, poseOutputOrder,
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eyeInHandTransform, order, rxDeg, rzDeg);
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|
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// 计算欧拉角
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PoseAngles angles;
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if (!ComputeRobotPoseAngles(eyeAxes, eyeInHandTransform, extrinsic, order, rxDeg, rzDeg, angles)) {
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return false;
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||
}
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||
|
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// 填充输出
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const CTVec3D eyePoint = ToCTVec3D(center);
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FillOutputPose(eyePoint, eyeInHandTransform, extrinsic, angles,
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||
outX, outY, outZ, outRoll, outPitch, outYaw);
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||
return true;
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||
}
|
||
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} // namespace PoseAxesBuilder
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