We use a stationary camera (Camera mount out of robot)

• T_t_cal: transform from robot tool to calibration board (fixed)
• T_b_t: transform from robot base to tool
• T_c_cal: transform from camera to calibration board
• T_b_c: transform from robot base to camera (fixed). You need to calibrate this transform

Data is in the form of [x, y, z, ox, oy, oz, ow], position + quaternion

make Main  # build
./Main     # run

2019/6/24 11:09:05
修改了hand2eye.cpp 轴角相加方式，不再理解为对应旋转矩阵乘法，只是简单的矢量相加。得到的标定矩阵我觉得ok,旋转矩阵的误差ok.
现在可以开始写说明文档了。