经典手眼标定算法C++代码

经典手眼标定算法C++代码，程序是基于OpenCV 2.0以上版本，下载程序后需要配置OpenCV。工程主要包括三个文件，handeye.h为各种手眼标定的实现，quaternion.h为四元数运算文件，handeye_test.cpp为主程序，测试各手眼标定算法的可行性。

// handeye_test.cpp : 定义控制台应用程序的入口点。
//

#include “stdafx.h“
#include “handeye.h“


using namespace std;


int _tmain（int argc _TCHAR* argv[]）
{
	// 测试程序测试数据为Park文中例子 Robot Sensor Calibration: Solving AX = XB on the Euclidean Group
	double a1[4][4] = { -0.989992 -0.141120 0.000000 0
		0.141120 -0.989992 0.000000 0
		0.000000 0.000000 1.000000 0
		0 0 0 1 };
	double a2[4][4] = { 0.070737 0.000000 0.997495 -400.000
		0.000000 1.000000 0.000000 0
		-0.997495 0.000000 0.070737 400.000
		0 0 0 1 };

	double b1[4][4] = { -0.989992 -0.138307 0.028036 -26.9559
		0.138307 -0.911449 0.387470 -96.1332
		-0.028036 0.387470 0.921456 19.4872
		0 0 0 1 };
	double b2[4][4] = { 0.070737 0.198172 0.977612 -309.543
		-0.198172 0.963323 -0.180936 59.0244
		-0.977612 -0.180936 0.107415 291.177
		0 0 0 1 };

	Mat A1（4 4 CV_64FC1 a1）;
	Mat A2（4 4 CV_64FC1 a2）;
	Mat B1（4 4 CV_64FC1 b1）;
	Mat B2（4 4 CV_64FC1 b2）;

	vector Hgij;
	vector Hcij;

	Hgij.push_back（A1）;
	Hgij.push_back（A2）;
	Hcij.push_back（B1）;
	Hcij.push_back（B2）;

	Mat Hcg1（4 4 CV_64FC1）;
	Tsai_HandEye（Hcg1 Hgij Hcij）;

	Mat Hcg2（4 4 CV_64FC1）;
	DualQ_HandEye（Hcg2 Hgij Hcij）;

	Mat Hcg3（4 4 CV_64FC1）;
	Inria_HandEye（Hcg3 Hgij Hcij）;

	Mat Hcg4（4 4 CV_64FC1）;
	Navy_HandEye（Hcg4 Hgij Hcij）;

	Mat Hcg5（4 4 CV_64FC1）;
	Kron_HandEye（Hcg5 Hgij Hcij）;

	cout << Hcg1 << endl << endl;
	cout << Hcg2 << endl << endl;
	cout << Hcg3 << endl << endl;
	cout << Hcg4 << endl << endl;
	cout << Hcg5 << endl << endl;

	
	
	

	return 0;
}

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

     文件     166912  2016-06-08 09:47  handeye_test\Debug\handeye_test.exe

     文件     603924  2016-06-08 09:47  handeye_test\Debug\handeye_test.ilk

     文件    3174400  2016-06-08 09:47  handeye_test\Debug\handeye_test.pdb

     文件       1033  2016-04-02 16:02  handeye_test\handeye_test\Debug\handeye_test.Build.CppClean.log

     文件       1928  2016-06-08 09:47  handeye_test\handeye_test\Debug\handeye_test.log

     文件     625082  2016-06-08 09:47  handeye_test\handeye_test\Debug\handeye_test.obj

     文件    1638400  2016-04-02 16:10  handeye_test\handeye_test\Debug\handeye_test.pch

     文件       2112  2016-06-08 09:47  handeye_test\handeye_test\Debug\handeye_test.tlog\cl.command.1.tlog

     文件      37188  2016-06-08 09:47  handeye_test\handeye_test\Debug\handeye_test.tlog\CL.read.1.tlog

     文件       1952  2016-06-08 09:47  handeye_test\handeye_test\Debug\handeye_test.tlog\CL.write.1.tlog

     文件        162  2016-06-08 09:47  handeye_test\handeye_test\Debug\handeye_test.tlog\handeye_test.lastbuildstate

     文件       2108  2016-06-08 09:47  handeye_test\handeye_test\Debug\handeye_test.tlog\link.command.1.tlog

     文件       5538  2016-06-08 09:47  handeye_test\handeye_test\Debug\handeye_test.tlog\link.read.1.tlog

     文件        492  2016-06-08 09:47  handeye_test\handeye_test\Debug\handeye_test.tlog\link.write.1.tlog

     文件      11708  2016-04-02 16:10  handeye_test\handeye_test\Debug\stdafx.obj

     文件     448179  2016-04-03 21:25  handeye_test\handeye_test\Debug\test.obj

     文件     764928  2016-06-08 09:47  handeye_test\handeye_test\Debug\vc120.idb

     文件    1478656  2016-06-08 09:47  handeye_test\handeye_test\Debug\vc120.pdb

     文件      16220  2016-06-07 21:36  handeye_test\handeye_test\handeye.h

     文件       1684  2016-06-08 09:52  handeye_test\handeye_test\handeye_test.cpp

     文件       5450  2016-04-03 21:28  handeye_test\handeye_test\handeye_test.vcxproj

     文件       1500  2016-04-03 21:28  handeye_test\handeye_test\handeye_test.vcxproj.filters

     文件       5327  2016-04-22 19:12  handeye_test\handeye_test\quaternion.h

     文件       1545  2016-03-22 15:27  handeye_test\handeye_test\ReadMe.txt

     文件        218  2016-03-22 15:27  handeye_test\handeye_test\stdafx.cpp

     文件        234  2016-03-22 15:27  handeye_test\handeye_test\stdafx.h

     文件        236  2016-03-22 15:27  handeye_test\handeye_test\targetver.h

     文件   15073280  2016-06-09 14:49  handeye_test\handeye_test.sdf

     文件        982  2016-03-22 15:27  handeye_test\handeye_test.sln

    ..A..H.     37888  2016-06-09 14:49  handeye_test\handeye_test.v12.suo

............此处省略11个文件信息