//?handeye_test.cpp?:?定義控制臺應用程序的入口點。
//

#include?“stdafx.h“
#include?“handeye.h“


using?namespace?std;


int?_tmain（int?argc?_TCHAR*?argv[]）
{
	//?測試程序測試數據為Park文中例子?Robot?Sensor?Calibration:?Solving?AX?=?XB?on?the?Euclidean?Group
	double?a1[4][4]?=?{?-0.989992?-0.141120?0.000000?0
		0.141120?-0.989992?0.000000?0
		0.000000?0.000000?1.000000?0
		0?0?0?1?};
	double?a2[4][4]?=?{?0.070737?0.000000?0.997495?-400.000
		0.000000?1.000000?0.000000?0
		-0.997495?0.000000?0.070737?400.000
		0?0?0?1?};

	double?b1[4][4]?=?{?-0.989992?-0.138307?0.028036?-26.9559
		0.138307?-0.911449?0.387470?-96.1332
		-0.028036?0.387470?0.921456?19.4872
		0?0?0?1?};
	double?b2[4][4]?=?{?0.070737?0.198172?0.977612?-309.543
		-0.198172?0.963323?-0.180936?59.0244
		-0.977612?-0.180936?0.107415?291.177
		0?0?0?1?};

	Mat?A1（4?4?CV_64FC1?a1）;
	Mat?A2（4?4?CV_64FC1?a2）;
	Mat?B1（4?4?CV_64FC1?b1）;
	Mat?B2（4?4?CV_64FC1?b2）;

	vector?Hgij;
	vector?Hcij;

	Hgij.push_back（A1）;
	Hgij.push_back（A2）;
	Hcij.push_back（B1）;
	Hcij.push_back（B2）;

	Mat?Hcg1（4?4?CV_64FC1）;
	Tsai_HandEye（Hcg1?Hgij?Hcij）;

	Mat?Hcg2（4?4?CV_64FC1）;
	DualQ_HandEye（Hcg2?Hgij?Hcij）;

	Mat?Hcg3（4?4?CV_64FC1）;
	Inria_HandEye（Hcg3?Hgij?Hcij）;

	Mat?Hcg4（4?4?CV_64FC1）;
	Navy_HandEye（Hcg4?Hgij?Hcij）;

	Mat?Hcg5（4?4?CV_64FC1）;
	Kron_HandEye（Hcg5?Hgij?Hcij）;

	cout?<	cout?<	cout?<	cout?<	cout?<
	
	
	

	return?0;
}

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件?????166912??2016-06-08?09:47??handeye_test\Debug\handeye_test.exe

?????文件?????603924??2016-06-08?09:47??handeye_test\Debug\handeye_test.ilk

?????文件????3174400??2016-06-08?09:47??handeye_test\Debug\handeye_test.pdb

?????文件???????1033??2016-04-02?16:02??handeye_test\handeye_test\Debug\handeye_test.Build.CppClean.log

?????文件???????1928??2016-06-08?09:47??handeye_test\handeye_test\Debug\handeye_test.log

?????文件?????625082??2016-06-08?09:47??handeye_test\handeye_test\Debug\handeye_test.obj

?????文件????1638400??2016-04-02?16:10??handeye_test\handeye_test\Debug\handeye_test.pch

?????文件???????2112??2016-06-08?09:47??handeye_test\handeye_test\Debug\handeye_test.tlog\cl.command.1.tlog

?????文件??????37188??2016-06-08?09:47??handeye_test\handeye_test\Debug\handeye_test.tlog\CL.read.1.tlog

?????文件???????1952??2016-06-08?09:47??handeye_test\handeye_test\Debug\handeye_test.tlog\CL.write.1.tlog

?????文件????????162??2016-06-08?09:47??handeye_test\handeye_test\Debug\handeye_test.tlog\handeye_test.lastbuildstate

?????文件???????2108??2016-06-08?09:47??handeye_test\handeye_test\Debug\handeye_test.tlog\link.command.1.tlog

?????文件???????5538??2016-06-08?09:47??handeye_test\handeye_test\Debug\handeye_test.tlog\link.read.1.tlog

?????文件????????492??2016-06-08?09:47??handeye_test\handeye_test\Debug\handeye_test.tlog\link.write.1.tlog

?????文件??????11708??2016-04-02?16:10??handeye_test\handeye_test\Debug\stdafx.obj

?????文件?????448179??2016-04-03?21:25??handeye_test\handeye_test\Debug\test.obj

?????文件?????764928??2016-06-08?09:47??handeye_test\handeye_test\Debug\vc120.idb

?????文件????1478656??2016-06-08?09:47??handeye_test\handeye_test\Debug\vc120.pdb

?????文件??????16220??2016-06-07?21:36??handeye_test\handeye_test\handeye.h

?????文件???????1684??2016-06-08?09:52??handeye_test\handeye_test\handeye_test.cpp

?????文件???????5450??2016-04-03?21:28??handeye_test\handeye_test\handeye_test.vcxproj

?????文件???????1500??2016-04-03?21:28??handeye_test\handeye_test\handeye_test.vcxproj.filters

?????文件???????5327??2016-04-22?19:12??handeye_test\handeye_test\quaternion.h

?????文件???????1545??2016-03-22?15:27??handeye_test\handeye_test\ReadMe.txt

?????文件????????218??2016-03-22?15:27??handeye_test\handeye_test\stdafx.cpp

?????文件????????234??2016-03-22?15:27??handeye_test\handeye_test\stdafx.h

?????文件????????236??2016-03-22?15:27??handeye_test\handeye_test\targetver.h

?????文件???15073280??2016-06-09?14:49??handeye_test\handeye_test.sdf

?????文件????????982??2016-03-22?15:27??handeye_test\handeye_test.sln

????..A..H.?????37888??2016-06-09?14:49??handeye_test\handeye_test.v12.suo

............此處省略11個文件信息