Hand-Eye Calibration

Base Class: HandEyeCalibrationBase

Script: scripts/calibration/hand_eye.py

class excalibur.calibration.hand_eye.Andreff

Robot Hand-Eye Calibration using Structure from Motion

N. Andreff, R. Horaud, and B. Espiau

The International Journal of Robotics Research (Vol. 20, Issue 3), 2001

__abstractmethods__ = frozenset({})

__init__()

__module__ = 'excalibur.calibration.hand_eye.andreff'

_abc_impl = <_abc_data object>

_calibrate(**_)

static name()

set_transforms(transforms_a: TransformContainer, transforms_b: TransformContainer, weights: List | ndarray | None = None) → None

class excalibur.calibration.hand_eye.Daniilidis

Hand-Eye Calibration Using Dual Quaternions

K. Daniilidis

The International Journal of Robotics Research (Vol. 18, Issue 3), 1999

__abstractmethods__ = frozenset({})

__init__()

__module__ = 'excalibur.calibration.hand_eye.daniilidis'

_abc_impl = <_abc_data object>

_calibrate(**_)

static name()

set_Mlist(Mlist)

set_transforms(transforms_a: TransformContainer, transforms_b: TransformContainer, weights: List | ndarray | None = None) → None

class excalibur.calibration.hand_eye.DualQuaternionQCQP(normalize: bool = False)

Online Extrinsic Calibration based on Per-Sensor Ego-Motion Using Dual Quaternions

M. Horn, T. Wodtko, M. Buchholz, and K. Dietmayer

IEEE Robotics and Automation Letters (Vol. 6, Issue 2), 2021

__abstractmethods__ = frozenset({})

__init__(normalize: bool = False)

__module__ = 'excalibur.calibration.hand_eye.qcqp_dq'

_abc_impl = <_abc_data object>

_calibrate(**kwargs)

static name()

set_Mlist(Mlist, weights=None)

set_Q(Q)

set_transforms(transforms_a: TransformContainer, transforms_b: TransformContainer, weights: List | ndarray | None = None) → None

class excalibur.calibration.hand_eye.DualQuaternionQCQPPlanar(normalize: bool = False)

Online Extrinsic Calibration based on Per-Sensor Ego-Motion Using Dual Quaternions

M. Horn, T. Wodtko, M. Buchholz, and K. Dietmayer

IEEE Robotics and Automation Letters (Vol. 6, Issue 2), 2021

__abstractmethods__ = frozenset({})

__init__(normalize: bool = False)

__module__ = 'excalibur.calibration.hand_eye.qcqp_dq'

_abc_impl = <_abc_data object>

_calibrate(**kwargs)

configure(**kwargs)

static name()

set_plane_transforms(plane_a: TransformInterface, plane_b: TransformInterface)

set_transforms(transforms_a: TransformContainer, transforms_b: TransformContainer, weights: List | ndarray | None = None) → None

class excalibur.calibration.hand_eye.DualQuaternionQCQPScaled(normalize: bool = False)

Globally Optimal Multi-Scale Monocular Hand-Eye Calibration Using Dual Quaternions

T. Wodtko, M. Horn, M. Buchholz, and K. Dietmayer

International Conference on 3D Vision (3DV), 2021

__abstractmethods__ = frozenset({})

__init__(normalize: bool = False)

__module__ = 'excalibur.calibration.hand_eye.qcqp_dq'

_abc_impl = <_abc_data object>

_calibrate(**kwargs)

static name()

set_Mlist(Mlist, weights=None)

set_Q(Q)

set_transforms(transforms_a, transforms_b, weights: List | ndarray | None = None) → None

class excalibur.calibration.hand_eye.HandEyeCalibrationBase

__abstractmethods__ = frozenset({'set_transforms'})

__module__ = 'excalibur.calibration.hand_eye.base'

_abc_impl = <_abc_data object>

abstract set_transforms(transforms_a: TransformContainer, transforms_b: TransformContainer, weights: List | ndarray | None = None)

class excalibur.calibration.hand_eye.MatrixQCQP(normalize=False)

Certifiably Globally Optimal Extrinsic Calibration from Per-Sensor Egomotion

M. Giamou, Z. Ma, V. Peretroukhin, and J. Kelly

IEEE Robotics and Automation Letters (Vol. 4, Issue 2), 2019

__abstractmethods__ = frozenset({})

__init__(normalize=False)

__module__ = 'excalibur.calibration.hand_eye.qcqp_hm'

_abc_impl = <_abc_data object>

_calibrate(**kwargs)

static name()

set_transforms(transforms_a: TransformContainer, transforms_b: TransformContainer, weights: List | ndarray | None = None) → None

class excalibur.calibration.hand_eye.MatrixQCQPScaled(normalize=False)

Certifiably Optimal Monocular Hand-Eye Calibration

E. Wise, M. Giamou1, S. Khoubyarian, A. Grover, and J. Kelly

IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 2020

__abstractmethods__ = frozenset({})

__init__(normalize=False)

__module__ = 'excalibur.calibration.hand_eye.qcqp_hm'

_abc_impl = <_abc_data object>

_calibrate(**kwargs)

static name()

set_transforms(transforms_a: TransformContainer, transforms_b: TransformContainer, weights: List | ndarray | None = None) → None

class excalibur.calibration.hand_eye.SchmidtDQ

Calibration-Free Hand-Eye Calibration: A Structure-from-Motion Approach

J. Schmidt, F. Vogt, and H. Niemann

Pattern Recognition, 2005

__abstractmethods__ = frozenset({})

__init__()

__module__ = 'excalibur.calibration.hand_eye.schmidt'

_abc_impl = <_abc_data object>

_calibrate(**kwargs)

static name()

set_transforms(transforms_a: TransformContainer, transforms_b: TransformContainer, weights: List | ndarray | None = None) → None

class excalibur.calibration.hand_eye.SchmidtHM

Calibration-Free Hand-Eye Calibration: A Structure-from-Motion Approach

J. Schmidt, F. Vogt, and H. Niemann

Pattern Recognition, 2005

__abstractmethods__ = frozenset({})

__init__()

__module__ = 'excalibur.calibration.hand_eye.schmidt'

_abc_impl = <_abc_data object>

_calibrate(**kwargs)

static name()

set_transforms(transforms_a: TransformContainer, transforms_b: TransformContainer, weights: List | ndarray | None = None) → None

class excalibur.calibration.hand_eye.Wei

Calibration-Free Robot-Sensor Calibration approach based on Second-Order Cone Programming

L. Wei, L. Naiguang, D. Mingli, and L. Xiaoping

MATEC Web of Conferences, 2018

__abstractmethods__ = frozenset({})

__init__()

__module__ = 'excalibur.calibration.hand_eye.wei'

_abc_impl = <_abc_data object>

_calibrate(**_)

static name()

set_transforms(transforms_a: TransformContainer, transforms_b: TransformContainer, weights: List | ndarray | None = None) → None