handeye.h File Reference

Hand-eye calibration algorithms and utilities. More...

#include <vector>
#include <Eigen/Geometry>
#include "calib/estimation/linear/planarpose.h"
#include "calib/io/serialization.h"

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Classes
struct	calib::MotionPair
	Motion pair structure for hand-eye calibration. More...

Namespaces
namespace	calib
	Linear multi-camera extrinsics initialisation (DLT)

Functions
auto	calib::build_all_pairs (const std::vector< Eigen::Isometry3d > &base_se3_gripper, const std::vector< Eigen::Isometry3d > &cam_se3_target, double min_angle_deg=1.0, bool reject_axis_parallel=true, double axis_parallel_eps=1e-3) -> std::vector< MotionPair >
	Generate all valid motion pairs from pose sequences.
auto	calib::estimate_handeye_dlt (const std::vector< Eigen::Isometry3d > &base_se3_gripper, const std::vector< Eigen::Isometry3d > &camera_se3_target, double min_angle_deg=1.0) -> Eigen::Isometry3d
	Estimates the hand-eye transformation using the Tsai-Lenz algorithm with all pairs of input transformations and weighted averaging.

Detailed Description

Hand-eye calibration algorithms and utilities.

This file provides comprehensive hand-eye calibration functionality including:

• Tsai-Lenz algorithm for AX=XB problem solving
• Motion pair generation and filtering

Definition in file handeye.h.