49 #include <visp/vpDebug.h>
50 #include <visp/vpParseArgv.h>
51 #include <visp/vpIoTools.h>
52 #include <visp/vpCalibration.h>
53 #include <visp/vpExponentialMap.h>
76 std::cout <<
"Simulated hand to eye transformation: eMc " << std::endl ;
77 std::cout << eMc << std::endl ;
81 for (
int i=0 ; i < N ; i++)
104 cMo[i] = cMc.
inverse() * cMo[i-1];
105 wMe[i] = wMe[i-1] * eMc * cMc * eMc.
inverse();
110 for (
int i=0 ; i < N ; i++) {
112 wMo = wMe[i] * eMc * cMo[i];
113 std::cout << std::endl <<
"wMo[" << i <<
"] " << std::endl ;
114 std::cout << wMo << std::endl ;
115 std::cout <<
"cMo[" << i <<
"] " << std::endl ;
116 std::cout << cMo[i] << std::endl ;
117 std::cout <<
"wMe[" << i <<
"] " << std::endl ;
118 std::cout << wMe[i] << std::endl ;
130 std::cout << std::endl <<
"Output: hand to eye calibration result: eMc estimated " << std::endl ;
131 std::cout << eMc << std::endl ;