| CARVIEW |
Select Language
HTTP/2 302
date: Mon, 21 Jul 2025 15:58:04 GMT
content-length: 0
location: https://github.com/opencv/opencv/pull/24897
server-timing: nginx;desc="NGINX";dur=0.97215,glb;desc="GLB";dur=166.705119
x-voltron-version: fd8fbbc
vary: Accept-Encoding, Accept, X-Requested-With
server: github.com
x-frame-options: DENY
strict-transport-security: max-age=31536000; includeSubDomains; preload
set-cookie: _gh_sess=3Bl3ZwOLouc8ll1Ng7FeaKx1uHxXwsxw9Ube6ygpFY3m9juk6R%2FE5RBs0pxCmYk72c%2BHCdIRoKYfLLY8WXF%2F69Iy%2B7YwdkHTPT4BKQUdQxptTmLMPK88HTaeiGg1wG8EuYQOxM%2BGK5NKgJt7ypj6wLxNoM6YVbel1GSFqdEsLWLBb7ord3JldbdZtBpndDbf%2B0zwQqGqJJBjkK0b7UVmbBWQH54LLxCGyp6CH0A7I%2Bx6AQs0Ya8z6jaTvfbewIJta5PuDrUOzeruw9Ha9hQZYw%3D%3D--MwQA4NMok7NC%2F%2B2b--ZMYEOm1DYZS3kXolaVXWfw%3D%3D; Path=/; HttpOnly; Secure; SameSite=Lax
set-cookie: _octo=GH1.1.920380866.1753113484; Path=/; Domain=github.com; Expires=Tue, 21 Jul 2026 15:58:04 GMT; Secure; SameSite=Lax
set-cookie: logged_in=no; Path=/; Domain=github.com; Expires=Tue, 21 Jul 2026 15:58:04 GMT; HttpOnly; Secure; SameSite=Lax
x-github-request-id: B756:9952B:B123E:CEDCB:687E638B
HTTP/2 200
date: Mon, 21 Jul 2025 15:58:05 GMT
content-type: text/html; charset=utf-8
cache-control: no-cache
content-security-policy: default-src 'none'; base-uri 'self'; child-src github.githubassets.com github.com/assets-cdn/worker/ github.com/assets/ gist.github.com/assets-cdn/worker/; connect-src 'self' uploads.github.com www.githubstatus.com collector.github.com raw.githubusercontent.com api.github.com github-cloud.s3.amazonaws.com github-production-repository-file-5c1aeb.s3.amazonaws.com github-production-upload-manifest-file-7fdce7.s3.amazonaws.com github-production-user-asset-6210df.s3.amazonaws.com *.rel.tunnels.api.visualstudio.com wss://*.rel.tunnels.api.visualstudio.com objects-origin.githubusercontent.com copilot-proxy.githubusercontent.com proxy.individual.githubcopilot.com proxy.business.githubcopilot.com proxy.enterprise.githubcopilot.com *.actions.githubusercontent.com wss://*.actions.githubusercontent.com productionresultssa0.blob.core.windows.net/ productionresultssa1.blob.core.windows.net/ productionresultssa2.blob.core.windows.net/ productionresultssa3.blob.core.windows.net/ productionresultssa4.blob.core.windows.net/ productionresultssa5.blob.core.windows.net/ productionresultssa6.blob.core.windows.net/ productionresultssa7.blob.core.windows.net/ productionresultssa8.blob.core.windows.net/ productionresultssa9.blob.core.windows.net/ productionresultssa10.blob.core.windows.net/ productionresultssa11.blob.core.windows.net/ productionresultssa12.blob.core.windows.net/ productionresultssa13.blob.core.windows.net/ productionresultssa14.blob.core.windows.net/ productionresultssa15.blob.core.windows.net/ productionresultssa16.blob.core.windows.net/ productionresultssa17.blob.core.windows.net/ productionresultssa18.blob.core.windows.net/ productionresultssa19.blob.core.windows.net/ github-production-repository-image-32fea6.s3.amazonaws.com github-production-release-asset-2e65be.s3.amazonaws.com insights.github.com wss://alive.github.com api.githubcopilot.com api.individual.githubcopilot.com api.business.githubcopilot.com api.enterprise.githubcopilot.com; font-src github.githubassets.com; form-action 'self' github.com gist.github.com copilot-workspace.githubnext.com objects-origin.githubusercontent.com; frame-ancestors 'none'; frame-src viewscreen.githubusercontent.com notebooks.githubusercontent.com; img-src 'self' data: blob: github.githubassets.com media.githubusercontent.com camo.githubusercontent.com identicons.github.com avatars.githubusercontent.com private-avatars.githubusercontent.com github-cloud.s3.amazonaws.com objects.githubusercontent.com release-assets.githubusercontent.com secured-user-images.githubusercontent.com/ user-images.githubusercontent.com/ private-user-images.githubusercontent.com opengraph.githubassets.com copilotprodattachments.blob.core.windows.net/github-production-copilot-attachments/ github-production-user-asset-6210df.s3.amazonaws.com customer-stories-feed.github.com spotlights-feed.github.com objects-origin.githubusercontent.com *.githubusercontent.com; manifest-src 'self'; media-src github.com user-images.githubusercontent.com/ secured-user-images.githubusercontent.com/ private-user-images.githubusercontent.com github-production-user-asset-6210df.s3.amazonaws.com gist.github.com; script-src github.githubassets.com; style-src 'unsafe-inline' github.githubassets.com; upgrade-insecure-requests; worker-src github.githubassets.com github.com/assets-cdn/worker/ github.com/assets/ gist.github.com/assets-cdn/worker/
referrer-policy: no-referrer-when-downgrade
server-timing: pull_request_layout-fragment;desc="pull_request_layout fragment";dur=474.113809,conversation_content-fragment;desc="conversation_content fragment";dur=1327.955582,conversation_sidebar-fragment;desc="conversation_sidebar fragment";dur=325.125746,nginx;desc="NGINX";dur=1.166309,glb;desc="GLB";dur=95.719223
strict-transport-security: max-age=31536000; includeSubdomains; preload
vary: X-PJAX, X-PJAX-Container, Turbo-Visit, Turbo-Frame, X-Requested-With,Accept-Encoding, Accept, X-Requested-With
x-content-type-options: nosniff
x-frame-options: deny
x-voltron-version: fd8fbbc
x-xss-protection: 0
server: github.com
content-encoding: gzip
accept-ranges: bytes
x-github-request-id: B756:9952B:B12DB:CEE56:687E638B
Fix handeye by JStech · Pull Request #24897 · opencv/opencv · GitHub
Skip to content
Navigation Menu
{{ message }}
-
-
Notifications
You must be signed in to change notification settings - Fork 56.2k
Fix handeye #24897
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Merged
Merged
Fix handeye #24897
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
@JStech Great job! Thanks a lot for the contribution! We need some time to analyze the implementation and understand the fix. |
|
/cc @catree |
catree
reviewed
Jan 30, 2024
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
| //Rotation axis for Rcij | ||
| Mat Pcij = 2*rot2quatMinimal(Hcij); | ||
|
|
||
| // Discard motions with rotation too small or too close to pi radians |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Makes sense.
| @@ -449,6 +462,9 @@ static void calibrateHandEyeHoraud(const std::vector<Mat>& Hg, const std::vector | |||
| Mat Rcij = Hcij(Rect(0, 0, 3, 3)); | |||
|
|
|||
| Mat qgij = rot2quat(Rgij); | |||
| if (qgij.at<double>(0, 0) < 0) { | |||
| qgij *= -1; | |||
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Indeed, this can be checked with this online tool: https://www.andre-gaschler.com/rotationconverter/
JStech
commented
Jan 31, 2024
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Thanks for the review, @catree.
MoveIt Calibration uses crigroup/handeye under the hood. I don't see any condition checking on the Tsai method, so it might be susceptible to the same issue (although they don't use all pairs of poses, just the motions in order). Their Daniilidis implementation uses a dual quaternion function that won't generate a negative real component (because the angle output by the axis-angle function comes from atan2, which only outputs [-pi, pi]).
|
The failed checks aren't related to the changes. Can I retrigger CI somehow? |
|
CI is still failing, and it seems unrelated to the patch: 🤷 |
|
@catree Is the PR redy for integration. |
|
@asmorkalov Looks good to me 👍 |
Merged
4 tasks
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
You can’t perform that action at this time.
Fixes to the hand-eye calibration methods, from #24871.
The Tsai method is sensitive to poses separated by small rotations, so I filter those out.
The Horaud and Daniilidis methods use quaternions (and dual quaternions), where$q$ and $-q$ represent the same transform. However, these methods depend on the gripper motion and camera motion having the same sign for the real part. The fix was simply to multiply the (dual) quaternions by -1 if their real part is negative.
Pull Request Readiness Checklist
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
Patch to opencv_extra has the same branch name.
The feature is well documented and sample code can be built with the project CMakeN/A