hand-eye calibration

File

Main files:
calibHandEye.m: hand eye calibration main function. Use cam2target.csv and gripper2base.csv andd using Tsai method to calculate the camera2gripper
tsai.m: Tsai method.
cameraParams.mat: camera instrinsics (calibrated ahead)
Rodrigues.m/invRodrigues.m: rotation axis to rotation matrix / matrix2axis.

Other files:
generate_cam2target.m: generate (from images) camera to target transformation. Save data into cam2target.csv as axis-angle format (rvec, tvec).
generate_gripper2base.m: generate (from VICON) gripper to base transformation. Save data into gripper2base.csv as axis-angle format (rvec, tvec).
calcCameraPose.m: function to calculate camera pose in target frame.
--image: all images from a USB camera
--vicon_data: gripper from a VICON system
--scripts: some codes for simulation (not used. Only for my own backup)

Usage

1. Just test hand-eye calibration by Tsai:

run calibHandEye.m directly, which use two csv file to calculate show Tsai's result.

2. Use original images (or your own data)

run generate_cam2target.m to generate cam2target.csv. You need to modify the chessboard size if different images are used.
Then you need to generate_gripper2base.

Sometimes you need to delete invalid data by hand in both .csv files.

3. Use simulated data

See "scripts" file, you will find generate_simulateData.m, which generate idea/noisy gripper2base.csv based on real cam2target.csv. The generated data are based on your own setting camera2gripper transformation.
Then use the simulated data to run calibHandEye to see the result.

Attention that you need to use a read cam2target pose (the provided one is not bad, I believe), since improper data may lead to large error. (See Tsai's paper for more details).