Robotic Hand-eye Calibration Workspace

| Ubuntu 1604 & ROS Kinetic Kame |

This repo contains my self-collected, self-developed hand-eye calibration tools (Cplusplus & ROS) in JD京东 GRASPING ROBOT CHALLENGE (News), and the implements of my paper: Robotic hand-eye calibration with depth camera: A sphere model approach (PDF)

Inside /src there are four ROS packages:

1. camera_transform_publisher
publish the transformation matrix (relative pose) between camera and marker
2. handeye_calib_chessboard
common handeye calib tools that use RGB camera and chessboard, forked from link
3. handeye_calib_sphere
self-developed fine-tune method tackling handeye calb with RGB-D camera
4. rgbd_srv common ROS srv folder

Prerequisit

• Ubuntu 16.04
• ROS Kinetic Kame // full install
• PCL 1.7+ (should be included in ROS Kinetic Kame)
• OpenCV 3.3 (should be included in ROS Kinetic Kame)
• cv_bridge
  sudo apt-get install ros-kinetic-cv-bridge
• visp_hand2eye_calibration_calibrator
  sudo apt-get install ros-kinetic-visp-hand2eye-calibration
• Eigen3 (should be included in Ubutnu 16.04)
  sudo apt-get install libeigen3-dev
• Sophus (https://github.com/stonier/sophus) // standard make and make install
• Ceres (http://ceres-solver.org/) // follow the installation guild

Install

Standard ROS workspace catkin_make procedure;

cd ~/to/your/workspace
git clone https://github.com/lixiny/Handeye-Calibration-ROS.git
cd calib_ws	
catkin_make

Related Publications:

Yang, Lixin, et al. " Robotic hand-eye calibration with depth camera: A sphere model approach. " 2018 4th International Conference on Control, Automation and Robotics (ICCAR). IEEE, 2018. PDF

@inproceedings{yang2018robotic,
  title={Robotic hand-eye calibration with depth camera: A sphere model approach},
  author={Yang, Lixin and Cao, Qixin and Lin, Minjie and Zhang, Haoruo and Ma, Zhuoming},
  booktitle={2018 4th International Conference on Control, Automation and Robotics (ICCAR)},
  pages={104--110},
  year={2018},
  organization={IEEE}
}

License

handeyeCalibWithDepthCamera is freely available for free non-commercial use, and may be redistributed under these conditions. Please, see the license for further details