I need to calibrate a multisensor machine with a camera and other sensors on hand. The camera hand has only 3 deg of freedom (translations x,y,z, NO ROTATIONS) therefore to calibrate the camera I have to acquire a calibration plate (circle grid or chessboard) put in not only one position.
So I would acquire N1 times the cal plate in position_1, N2 times in position_2 (rotation of position_1),….Nm times in position_m (rotation of position_(m-1)).
These acquisitions can for sure be used for the method cv::calibrateCamera() but I was wondering : can they be used also for calibrateHandEye() or calibrateRobotWorldHandEye() ?
In the doc it is not very explicit but it seems that calibrateHandEye requires b_T_t to be constant (it ‘s not my case) and it seems that calibrateRobotWorldHandEye requires w_T_b to be constant (it’ s not my case) so I doubt it won’t be possible to use these 2 methods in my application. May be the documentation should be improved to make my case and similar cases more clear.
Could you please give an advice about this? Thank you very much