Merge pull request #1599 from fspindle/feat_hand_eye_calibration

Hand-in-eye and hand-to-eye calibration tools

ChangeLog.txt

@@ -78,6 +78,8 @@ ViSP 3.x.x (Version in development)
       https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-pf-curve-fitting.html
     . New tutorial: Rendering a 3D scene with Ogre
       https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-ogre.html
+    . New tutorial: Camera eye-to-hand extrinsic calibration
+      https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-calibration-extrinsic-eye-to-hand.html
   - Bug fixed
     . [#1251] Bug in vpDisplay::displayFrame()
     . [#1270] Build issue around std::clamp and optional header which are not found with cxx17
@@ -327,7 +329,7 @@ ViSP 3.4.0 (released February 26, 2021)
     . [#801] Build issue with visp_java
     . [#803] Segfault with MBT and when a circle disappears
     . [#806] Error running the Java sample with intel-mkl 2020.2.254-1
-    . [#808] vpVirtuose.cpp doen't build with Visual 2019 (vc16)
+    . [#808] vpVirtuose.cpp doesn't build with Visual 2019 (vc16)
     . [#812] Online doc formula rendering issue with Ghostscript on OSX
     . [#817] vpIoTools::getFileExtension prints "Debug sepIndex: 0" to std::cout
     . [#818] Model-based tracking issue using RGBD-data on Windows

apps/CMakeLists.txt

@@ -60,4 +60,4 @@ if(MSVC)
   endif()
 endif()
 
-visp_add_subdirectory(calibration REQUIRED_DEPS visp_core visp_gui visp_io visp_robot visp_sensor visp_vision )
+visp_add_subdirectory(calibration REQUIRED_DEPS visp_core visp_gui visp_io visp_robot visp_sensor visp_vision)

apps/calibration/CMakeLists.txt

@@ -1,49 +1,64 @@
-cmake_minimum_required(VERSION 3.10)
-
-project(apps-calibration)
-
-find_package(VISP REQUIRED visp_vision visp_io OPTIONAL_COMPONENTS visp_gui visp_robot visp_sensor)
-
-set(apps_cpp
-  visp-compute-chessboard-poses.cpp
-  visp-compute-hand-eye-calibration.cpp
-)
+#############################################################################
+#
+# ViSP, open source Visual Servoing Platform software.
+# Copyright (C) 2005 - 2025 by Inria. All rights reserved.
+#
+# This software is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+# See the file LICENSE.txt at the root directory of this source
+# distribution for additional information about the GNU GPL.
+#
+# For using ViSP with software that can not be combined with the GNU
+# GPL, please contact Inria about acquiring a ViSP Professional
+# Edition License.
+#
+# See https://visp.inria.fr for more information.
+#
+# This software was developed at:
+# Inria Rennes - Bretagne Atlantique
+# Campus Universitaire de Beaulieu
+# 35042 Rennes Cedex
+# France
+#
+# If you have questions regarding the use of this file, please contact
+# Inria at [email protected]
+#
+# This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+# WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+#
+# Description:
+# ViSP overall configuration file.
+#
+#############################################################################
 
-if(VISP_HAVE_FRANKA)
-  list(APPEND apps_cpp visp-acquire-franka-calib-data.cpp)
-endif()
-
-if(VISP_HAVE_UR_RTDE)
-  list(APPEND apps_cpp visp-acquire-universal-robots-calib-data.cpp)
-endif()
+cmake_minimum_required(VERSION 3.10)
 
-file(GLOB apps_data "*.yaml" "*.py" "camera.xml" "*.jpg")
+project(ViSP-apps)
 
-foreach(cpp ${apps_cpp})
-  visp_add_app(${cpp})
-endforeach()
+find_package(VISP)
 
-if(VISP_HAVE_REALSENSE2)
-  # Add specific build flag to turn off warnings coming from librealsense 3rd party and its dependencies
-  list(APPEND CXX_FLAGS_MUTE_WARNINGS "/wd4244")
-  list(APPEND CXX_FLAGS_MUTE_WARNINGS "/wd4267")
-  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-deprecated-copy")
-  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-deprecated-declarations")
-  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-ignored-qualifiers")
-  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-overloaded-virtual")
-  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-pessimizing-move")
-  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-reorder")
-  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-sign-compare")
-  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-unused-function")
-  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-unused-parameter")
-  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-unqualified-std-cast-call")
-  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-missing-field-initializers")
+if(MSVC)
+  if(NOT VISP_SHARED)
+    foreach(flag_var
+            CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE
+            CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO
+            CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE
+            CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO)
+      if(${flag_var} MATCHES "/MD")
+        string(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}")
+      endif()
+      if(${flag_var} MATCHES "/MDd")
+        string(REGEX REPLACE "/MDd" "/MTd" ${flag_var} "${${flag_var}}")
+      endif()
+    endforeach(flag_var)
 
-  visp_set_source_file_compile_flag(visp-acquire-franka-calib-data.cpp ${CXX_FLAGS_MUTE_WARNINGS})
-  visp_set_source_file_compile_flag(visp-acquire-universal-robots-calib-data.cpp ${CXX_FLAGS_MUTE_WARNINGS})
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /NODEFAULTLIB:atlthunk.lib /NODEFAULTLIB:msvcrt.lib /NODEFAULTLIB:msvcrtd.lib")
+    set(CMAKE_EXE_LINKER_FLAGS_DEBUG "${CMAKE_EXE_LINKER_FLAGS_DEBUG} /NODEFAULTLIB:libcmt.lib")
+    set(CMAKE_EXE_LINKER_FLAGS_RELEASE "${CMAKE_EXE_LINKER_FLAGS_RELEASE} /NODEFAULTLIB:libcmtd.lib")
+  endif()
 endif()
 
-# Copy the data files to the same location than the target
-foreach(data ${apps_data})
-  visp_copy_data(visp-compute-hand-eye-calibration.cpp ${data})
-endforeach()
+visp_add_subdirectory(hand-eye REQUIRED_DEPS visp_core visp_gui visp_io visp_robot visp_sensor visp_vision)
+visp_add_subdirectory(intrinsic REQUIRED_DEPS visp_core visp_gui visp_io visp_vision)

apps/calibration/hand-eye/CMakeLists.txt

@@ -0,0 +1,48 @@
+cmake_minimum_required(VERSION 3.10)
+
+project(apps-calibration-hand-eye)
+
+find_package(VISP REQUIRED visp_vision visp_io OPTIONAL_COMPONENTS visp_gui visp_robot visp_sensor)
+
+set(apps_cpp
+  visp-compute-apriltag-poses.cpp
+  visp-compute-chessboard-poses.cpp
+  visp-compute-eye-in-hand-calibration.cpp
+  visp-compute-eye-to-hand-calibration.cpp
+)
+
+if(VISP_HAVE_FRANKA)
+  list(APPEND apps_cpp visp-acquire-franka-calib-data.cpp)
+endif()
+
+if(VISP_HAVE_UR_RTDE)
+  list(APPEND apps_cpp visp-acquire-universal-robots-calib-data.cpp)
+endif()
+
+foreach(cpp ${apps_cpp})
+  visp_add_app(${cpp})
+endforeach()
+
+if(VISP_HAVE_REALSENSE2)
+  # Add specific build flag to turn off warnings coming from librealsense 3rd party and its dependencies
+  list(APPEND CXX_FLAGS_MUTE_WARNINGS "/wd4244")
+  list(APPEND CXX_FLAGS_MUTE_WARNINGS "/wd4267")
+  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-deprecated-copy")
+  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-deprecated-declarations")
+  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-ignored-qualifiers")
+  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-overloaded-virtual")
+  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-pessimizing-move")
+  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-reorder")
+  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-sign-compare")
+  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-unused-function")
+  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-unused-parameter")
+  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-unqualified-std-cast-call")
+  list(APPEND CXX_FLAGS_MUTE_WARNINGS "-Wno-missing-field-initializers")
+
+  visp_set_source_file_compile_flag(visp-acquire-franka-calib-data.cpp ${CXX_FLAGS_MUTE_WARNINGS})
+  visp_set_source_file_compile_flag(visp-acquire-universal-robots-calib-data.cpp ${CXX_FLAGS_MUTE_WARNINGS})
+endif()
+
+# Copy the data folder to the same location than the target
+visp_copy_dir(visp-compute-eye-in-hand-calibration.cpp "${CMAKE_CURRENT_SOURCE_DIR}" data-eye-in-hand)
+visp_copy_dir(visp-compute-eye-to-hand-calibration.cpp "${CMAKE_CURRENT_SOURCE_DIR}" data-eye-to-hand)

apps/calibration/hand-eye/data-eye-in-hand/chessboard-data.txt

@@ -0,0 +1,3 @@
+Chessboard
+9 x 6
+square size: 0.0236 m

apps/calibration/camera.xml → apps/calibration/hand-eye/data-eye-in-hand/franka_camera.xml

@@ -16,11 +16,11 @@
       <!--Projection model type-->
       <type>perspectiveProjWithDistortion</type>
       <!--Pixel ratio-->
-      <px>605.146728515625</px>
-      <py>604.79150390625</py>
+      <px>607.5931396484375</px>
+      <py>607.574951171875</py>
       <!--Principal point-->
-      <u0>325.53253173828125</u0>
-      <v0>244.95083618164062</v0>
+      <u0>323.46282958984375</u0>
+      <v0>243.25529479980469</v0>
       <!--Undistorted to distorted distortion parameter-->
       <kud>-0</kud>
       <!--Distorted to undistorted distortion parameter-->

apps/calibration/hand-eye/data-eye-in-hand/franka_pose_rPe_1.yaml

@@ -0,0 +1,9 @@
+rows: 6
+cols: 1
+data: 
+  - [0.335091]
+  - [-0.0321497]
+  - [0.30857]
+  - [-3.01226]
+  - [0.0236777]
+  - [-0.451343]

apps/calibration/hand-eye/data-eye-in-hand/franka_pose_rPe_2.yaml

@@ -0,0 +1,9 @@
+rows: 6
+cols: 1
+data: 
+  - [0.404004]
+  - [-0.0991073]
+  - [0.313698]
+  - [-2.80794]
+  - [0.243946]
+  - [0.0128115]

apps/calibration/hand-eye/data-eye-in-hand/franka_pose_rPe_3.yaml

@@ -0,0 +1,9 @@
+rows: 6
+cols: 1
+data: 
+  - [0.496836]
+  - [-0.0964562]
+  - [0.303913]
+  - [-2.69624]
+  - [0.424041]
+  - [0.544602]

apps/calibration/hand-eye/data-eye-in-hand/franka_pose_rPe_4.yaml

@@ -0,0 +1,9 @@
+rows: 6
+cols: 1
+data: 
+  - [0.572877]
+  - [-0.0239745]
+  - [0.322465]
+  - [-2.88599]
+  - [0.0945806]
+  - [0.968856]

apps/calibration/hand-eye/data-eye-in-hand/franka_pose_rPe_5.yaml

@@ -0,0 +1,9 @@
+rows: 6
+cols: 1
+data: 
+  - [0.531347]
+  - [0.107708]
+  - [0.395596]
+  - [2.08624]
+  - [-1.84015]
+  - [-0.328587]

apps/calibration/hand-eye/data-eye-in-hand/franka_pose_rPe_6.yaml

@@ -0,0 +1,9 @@
+rows: 6
+cols: 1
+data: 
+  - [0.422618]
+  - [0.122676]
+  - [0.398295]
+  - [2.27722]
+  - [1.49913]
+  - [-0.180671]

apps/calibration/hand-eye/data-eye-in-hand/franka_pose_rPe_7.yaml

@@ -0,0 +1,9 @@
+rows: 6
+cols: 1
+data: 
+  - [0.376289]
+  - [0.164592]
+  - [0.366096]
+  - [2.30108]
+  - [-1.98969]
+  - [0.408048]

apps/calibration/hand-eye/data-eye-in-hand/franka_pose_rPe_8.yaml

@@ -0,0 +1,9 @@
+rows: 6
+cols: 1
+data: 
+  - [0.386433]
+  - [-0.0703535]
+  - [0.286561]
+  - [-0.319244]
+  - [2.44944]
+  - [0.612203]

apps/calibration/hand-eye/data-eye-to-hand/apriltag-data.txt

@@ -0,0 +1,2 @@
+36h11 Ariltag
+size: 0.048 m

apps/calibration/hand-eye/data-eye-to-hand/franka_camera.xml

@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<root>
+  <!--This file stores intrinsic camera parameters used
+   in the vpCameraParameters Class of ViSP available
+   at https://visp.inria.fr/download/ .
+   It can be read with the parse method of
+   the vpXmlParserCamera class.-->
+  <camera>
+    <!--Name of the camera-->
+    <name>Camera</name>
+    <!--Size of the image on which camera calibration was performed-->
+    <image_width>640</image_width>
+    <image_height>480</image_height>
+    <!--Intrinsic camera parameters computed for each projection model-->
+    <model>
+      <!--Projection model type-->
+      <type>perspectiveProjWithDistortion</type>
+      <!--Pixel ratio-->
+      <px>607.5931396484375</px>
+      <py>607.574951171875</py>
+      <!--Principal point-->
+      <u0>323.46282958984375</u0>
+      <v0>243.25529479980469</v0>
+      <!--Undistorted to distorted distortion parameter-->
+      <kud>-0</kud>
+      <!--Distorted to undistorted distortion parameter-->
+      <kdu>0</kdu>
+    </model>
+  </camera>
+</root>

apps/calibration/hand-eye/data-eye-to-hand/franka_pose_rPe_1.yaml

@@ -0,0 +1,9 @@
+rows: 6
+cols: 1
+data: 
+  - [0.719437]
+  - [-0.0332613]
+  - [0.412152]
+  - [3.05894]
+  - [0.00390122]
+  - [0.105226]

apps/calibration/hand-eye/data-eye-to-hand/franka_pose_rPe_2.yaml

@@ -0,0 +1,9 @@
+rows: 6
+cols: 1
+data: 
+  - [0.693433]
+  - [-0.132825]
+  - [0.411058]
+  - [-2.94386]
+  - [-0.642218]
+  - [-0.107763]

apps/calibration/hand-eye/data-eye-to-hand/franka_pose_rPe_3.yaml

@@ -0,0 +1,9 @@
+rows: 6
+cols: 1
+data: 
+  - [0.656645]
+  - [-0.0758066]
+  - [0.484879]
+  - [1.88619]
+  - [-0.381533]
+  - [-0.288699]

apps/calibration/hand-eye/data-eye-to-hand/franka_pose_rPe_4.yaml

@@ -0,0 +1,9 @@
+rows: 6
+cols: 1
+data: 
+  - [0.7954]
+  - [-0.096865]
+  - [0.54849]
+  - [0.830429]
+  - [0.265711]
+  - [0.195103]

apps/calibration/hand-eye/data-eye-to-hand/franka_pose_rPe_5.yaml

@@ -0,0 +1,9 @@
+rows: 6
+cols: 1
+data: 
+  - [0.785352]
+  - [-0.0604423]
+  - [0.570643]
+  - [0.137215]
+  - [0.330229]
+  - [0.00245722]

apps/calibration/hand-eye/data-eye-to-hand/franka_pose_rPe_6.yaml

@@ -0,0 +1,9 @@
+rows: 6
+cols: 1
+data: 
+  - [0.828885]
+  - [-0.115107]
+  - [0.50431]
+  - [1.40563]
+  - [0.487777]
+  - [0.296895]

apps/calibration/hand-eye/data-eye-to-hand/franka_pose_rPe_7.yaml

@@ -0,0 +1,9 @@
+rows: 6
+cols: 1
+data: 
+  - [0.771604]
+  - [-0.0188359]
+  - [0.502333]
+  - [-1.43407]
+  - [0.133107]
+  - [-0.256991]

apps/calibration/hand-eye/data-eye-to-hand/franka_pose_rPe_8.yaml

@@ -0,0 +1,9 @@
+rows: 6
+cols: 1
+data: 
+  - [0.808104]
+  - [-0.105606]
+  - [0.481443]
+  - [1.82284]
+  - [-0.0661053]
+  - [0.362562]