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This code uses Ceres, OpenCV 3.0, and Eigen libraries and is built as a ROS package.

universal_robots: ROS-Industrial support for Univrsal Robots manipulators.ur_modern_driver: ROS driver for UR10 robot controller from Universal Robots.This package was developed in Ubuntu 16.04 and ROS Kinetic.Universal Robot UR10 Industrial Robot Arm Otherwise, there are no restrictions in your use of this code. If you use this code in projects that results in a publication, please cite at a minimum the paper above. Solving the Robot-World Hand-Eye(s) Calibration Problem with Iterative Methods The source code is based on the following paper: The original package is called RWHEC-Tabb-AhamadYousef. This is a robot hand-eye calibration package adapted from an existing work produced by and credited to Amy Tabb and Khalil M.