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st_handeye_graph's Issues

Calibration target

Adding the calibration target as PDF to the repository would help me.

Best, Ralf

Confusing notation

Thank you for making this codes public, first of all.

Why are there many codes such as following :

std::cout << "hand2eye ---\n" << hand2eye.matrix().inverse() << std::endl;

cv::Mat cv_object2eye = eigen2cvmat(object2eyes[i].inverse().matrix());

Shouldn't be the inverse of A2B B2A ?

Calibration board

Adding the calibration target as PDF to the repository would help me.

Best, Ralf

Building Code on a New OS

Hello - is there any chance you could create a Docker image for this repository (and maybe update repository dependencies)? I am having many issues building it on a newer Ubuntu 20.04 OS with python3, OpenCV4, and C++17. If I recall correctly, this worked well on an Ubuntu 18.04 OS with python2, C++11, and OpenCV2. (I used C++11 for the build, but I have several OpenCV version conflicts).
image

Error:

[ 91%] Built target calibrate
/usr/bin/ld: CMakeFiles/handeye_simulation_xray.dir/src/handeye_simulation_xray.cpp.o: in function `HandeyeSimulationXray::visualize(Eigen::Matrix<double, -1, -1, 0, -1, -1> const&, int) const [clone .constprop.0]':
handeye_simulation_xray.cpp:(.text+0x456): undefined reference to `cv::imshow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, cv::_InputArray const&)'
/usr/bin/ld: CMakeFiles/handeye_simulation_xray.dir/src/handeye_simulation_xray.cpp.o: in function `main':
handeye_simulation_xray.cpp:(.text.startup+0x2aa9): undefined reference to `cv::imshow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, cv::_InputArray const&)'
/usr/bin/ld: handeye_simulation_xray.cpp:(.text.startup+0x3889): undefined reference to `cv::imshow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, cv::_InputArray const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/handeye_simulation_xray.dir/build.make:157: handeye_simulation_xray] Error 1
make[1]: *** [CMakeFiles/Makefile2:198: CMakeFiles/handeye_simulation_xray.dir/all] Error 2
make: *** [Makefile:91: all] Error 2

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