opencv函数:
void cv::calibrateHandEye (InputArrayOfArrays R_gripper2base,
InputArrayOfArrays t_gripper2base,
InputArrayOfArrays R_target2cam,
InputArrayOfArrays t_target2cam,
OutputArray R_cam2gripper,
OutputArray t_cam2gripper,
HandEyeCalibrationMethod method = CALIB_HAND_EYE_TSAI )
前四个是输入参数,第五和第六是输出参数;
最后一个是手眼标定方式:
CALIB_HAND_EYE_TSAI:参考文献[1]
CALIB_HAND_EYE_PARK:参考文献[2]
CALIB_HAND_EYE_HORAUD:参考文献[3]
CALIB_HAND_EYE_ANDREFF:参考文献[4]
CALIB_HAND_EYE_ANDIILIDIS:参考文献[5]
参考文献:
【1】R. Tsai, R. Lenz A New Technique for Fully Autonomous and Efficient 3D Robotics Hand/EyeCalibration
【2】F. Park, B. Martin Robot Sensor Calibration: Solving AX = XB on the Euclidean Group
【3】R. Horaud, F. Dornaika Hand-Eye Calibration
【4】N. Andreff, R. Horaud, B. Espiau On-line Hand-Eye Calibration
【5】K. Daniilidis Hand-Eye Calibration Using Dual Quaternions
原文链接:https://blog.csdn.net/AlonewaitingNew/article/details/89430652