thrfruit / simplified_eye_hand_calibration

A cmake project for robot eye hand calibration (eye in hand and eye to hand).

A simplified eye hand calibration repo (cmake project)

Usage

• eye in hand calibration
• eye to hand calibration

Input

• image with chessboard
• robot pose in txt file (xyz(mm),rpy(deg))

Output

• camera intrinsic parameters
• eye hand transformations

dependency

• OpenCV
• Eigen

how to use

mkdir build
cd build
cmake ..
make

put your images and robot_pose_txt file under build/data folder.

• images should named like numbers.png, and index from 0.
• robot_pose_txt file should name with pose.txt.
• you can use tools under scripts folder to re-format your input data.

for eye to hand calibration:

./eye_to_hand_calibration

for eye in hand calibration:

./eye_in_hand_calibration

results are in the same folder.

example calibration data can be downloaded from:

https://download.csdn.net/download/m0_37579176/21517160