RHCL

Rapid Hand-eye Calibration Library

Introduction

RHCL is a Rapid Hand-eye Calibration Library.

• Introduction
• Dependencies
• Hardware
• Usage
• Contributor

Modules

1. RHCL::Camera Camera module is used to process the point cloud from depth camera, such as Kinect, realsense
2. RHCL::Model Model module is used to obtain the point cloud which generated by the 3D model of manipulator
3. RHCL::Registration Registration module is used to process the two point clouds to get the RT-Matrix
4. RHCL::Correction Correction module is used to correct the error of RT-Matrix which caused by the camera or 3D model

Dependencies

1. PCL Point Cloud Library
2. Qt Qt GUI libraries
3. OpenGL 3D visualization
4. Assimp Loading 3D model format
5. Eigen Eigen is a C++ template library for linear algebra (:warning: unused)
6. Boost Free peer-reviewed portable C++ source libraries (:warning: unfinished)
7. OpenCV Processing RGBD image of Kinect (:warning: unfinished)

Hardware

Usage

$ git clone https://github.com/thinkexist1989/RHCL.git
$ cd RHCL/
$ mkdir build && cd build
$ cmake ..
$ make -j`nproc`

Contributor

👤Yang Luo ([email protected]), 👤Shun Su ([email protected])