T2honda / handeyecat

easy, fast implementation of Tsai's hand-eye calibration algorithm

HandEyeCat: Easy Hand-eye calibration tools.

• 基于Eigen库的手眼标定算法

Description 算法描述

• 输入离散采集的机器人和相机位姿，计算出二者转移矩阵。Solving $AX=XB$.
• 实现算法： The "classic" Tsai way, reference：

  • Tsai, R.Y., Lenz, R.K.

    Real Time Versatile Robotics Hand/Eye Calibration using 3D Machine Vision Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on 24-29 April 1988 Page(s):554 - 561 vol.1

    A new technique for fully autonomous and efficient 3D robotics hand/eye calibration IEEE Transactions onRobotics and Automation, 5 (3) 1989 p.345-358

  • Shiu, Y.C., Ahmad, S. Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations of the form AX=XB IEEE Transactions on Robotics and Automation, 5 (1) 1989, p.16-29

Dependency 依赖库

• Eigen > 3.0

Usage 用法

	mkdir build
	cd build
	cmake ..
	make -j4

• main.cpp中表示的是一个虚拟生产的示例，可自行修改测试，并可以加入一些噪声。