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Fix handeye #24897 Fixes to the hand-eye calibration methods, from #24871. The Tsai method is sensitive to poses separated by small rotations, so I filter those out. The Horaud and Daniilidis methods use quaternions (and dual quaternions), where $q$ and $-q$ represent the same transform. However, these methods depend on the gripper motion and camera motion having the same sign for the real part. The fix was simply to multiply the (dual) quaternions by -1 if their real part is negative. ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] ~~The feature is well documented and sample code can be built with the project CMake~~ N/A |
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