handeye.h

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#pragma once
 
#include "calib/estimation/linear/handeye.h"
#include "calib/estimation/optim/optimize.h"
 
namespace calib {
 
struct HandeyeResult final {
    OptimResult core;           
    Eigen::Isometry3d g_se3_c;  
};
 
auto optimize_handeye(const std::vector<Eigen::Isometry3d>& base_se3_gripper,
                      const std::vector<Eigen::Isometry3d>& camera_se3_target,
                      const Eigen::Isometry3d& init_gripper_se3_ref,
                      const OptimOptions& options = {}) -> HandeyeResult;
 
auto estimate_and_optimize_handeye(const std::vector<Eigen::Isometry3d>& base_se3_gripper,
                                   const std::vector<Eigen::Isometry3d>& camera_se3_target,
                                   double min_angle_deg = 1.0, const OptimOptions& options = {})
    -> HandeyeResult;
 
}  // namespace calib