Hand Eye Calibration Using Eigen C++

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This repository contains some sources to calibrate the homogeneous transformation from robot flange to a stereo pair of cameras, which is also known as eye in hand.

Dependencies

• Eigen

% brew install eigen

Compilation

Compile all the files using the following commands.

% mkdir cmake-build-debug
% cd cmake-build-debug
% cmake ..
% make

Make sure you are in the cmake-build-debug folder to run the exeutables.

% ./handeye-calibration

Data Analysis(calib_dataset)

File name	Description
base2flange_rpy.txt	Flange pose recorded w.r.t robot base coordinate in roll pitch yaw (mm and deg).
T_B_hT.txt	Relative transformation of checkerboard from previous pose to current pose( w.r.t camera coordinate).
T_A_hT.txt	Relative transformation of robot flange from previous pose to current pose( w.r.t robot base coordinate).
flange2cam.txt	Homogeneous transformation from robot flange to camera.
error_metrics.txt	Error analysis both in translation and rotation.

Hightlighted .txt file is generated after executables.

Type 0 to implement transformation from base2flange_rpy.txt to T_A_hT.txt
Type 1 to implement Tsai Lenz's Calibration
Type 2 to implement Park and Martin's Calibration 

When implementing 0 and 2,

void pose_rpy2T_L(){

    calculateEIH calculateEih;

    std::string filepath;
    int dataPtsNum;

    dataPtsNum = 28;
    filepath = "../calib_dataset/";

    ...

}

void Calibrate_Park_Martin(){

    calculateEIH calculateEih;

    std::string filepath;
    int dataPtsNum2;

    dataPtsNum2 = 28;
    filepath = "../calib_dataset/";

    ...
}

dataPtsNum , dataPtsNum2 and filepath should be modified before executables.

Make sure the numbers of base2flange_rpy.txt and T_B_hT.txt in calib_dataset match dataPtsNum -1 and dataPtsNum2 -1 ,respectively.

When implementing 1,

choose two adjacent matrices either in T_A_hT.txt or T_B_hT.txt.

References

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[1] Park, F.; Martin, B. Robot sensor calibration: Solving AX=XB on the Euclidean group. IEEE Trans. Robot. Autom. 1994, 10, 717–721, doi: 10.1109/70.326576.

[2] Tsai, R.; Lenz, R. A new technique for fully autonomous and efficient 3D robotics hand/eye calibration. IEEE Trans. Robot. Autom. 1989, 5, 345–358, doi: 10.1109/70.34770.

[3] Ali I, Suominen O, Gotchev A, Morales ER. Methods for simultaneous robot-world-hand–eye calibration: A comparative study. Sensors. 2019 Jan;19(12):2837.