HECalib
Ad-hoc investigation aimed at improving the result of Park-Martin and Tsai-Lenz calibration of a hand-eye system by removing outliers among the set of movement pairs.
HECalib includes implementations of Park-Martin (written by Morten Lind) and Tsai-Lenz (written by Lars Tingelstad) calibration methods.
The following transformations configurations is used in HECalib (arrows indicate the direction of transfotmations):
R2 = R1 * A; A = inv(R1) * R2
V2 = V1 * B; B = inv(V1) * V2