[Toon-members] tag/src handeye.cpp

[Gerhard Reitmayr]

CVSROOT:        /cvsroot/toon
Module name:    tag
Changes by:     Gerhard Reitmayr <gerhard>      10/01/19 21:19:37

Modified files:
        src            : handeye.cpp 

Log message:
        create more constraints for hand-eye calibration from a set of 
measurements

CVSWeb URLs:
http://cvs.savannah.gnu.org/viewcvs/tag/src/handeye.cpp?cvsroot=toon&r1=1.3&r2=1.4

Patches:
Index: handeye.cpp
===================================================================
RCS file: /cvsroot/toon/tag/src/handeye.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -u -b -r1.3 -r1.4
--- handeye.cpp 27 Apr 2009 13:45:43 -0000      1.3
+++ handeye.cpp 19 Jan 2010 21:19:37 -0000      1.4
@@ -65,10 +65,12 @@
 }
 
 SO3<>  computeHandEyeSingle( const vector<SO3<> > & AB, const vector<SO3<> > & 
CD ){
-    vector<SO3<> > A(AB.size()-1),B(AB.size()-1);
+    vector<SO3<> > A,B;
     for(unsigned int i = 0; i < AB.size() - 1; ++i){
-        A[i] = CD[i] * CD[i+1].inverse();
-        B[i] = AB[i].inverse() * AB[i+1];
+               for(unsigned int j = i+1; j < AB.size(); ++j){
+                       A.push_back(CD[i] * CD[j].inverse());
+                       B.push_back(AB[i].inverse() * AB[j]);
+               }
     }
     return solveXABX(A,B);
 }