handeye.h

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#pragma once
 
// std
#include <vector>
 
// eigen
#include <Eigen/Geometry>
 
#include "calib/estimation/linear/planarpose.h"
#include "calib/io/serialization.h"
 
namespace calib {
 
struct MotionPair final {
    Eigen::Matrix3d rot_a, rot_b;  
    Eigen::Vector3d tra_a, tra_b;  
};
 
auto 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,        // discard too-small motions
                     bool reject_axis_parallel = true,  // guard against ill-conditioning
                     double axis_parallel_eps = 1e-3) -> std::vector<MotionPair>;
 
auto 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;
 
static_assert(serializable_aggregate<MotionPair>);
 
}  // namespace calib