# IFL-CAMP/easy_handeye

Automated, hardware-independent Hand-Eye Calibration

Repository: https://github.com/IFL-CAMP/easy_handeye
Canonical: https://ross.abutalabs.com/products/easy_handeye
Language: Python
License: NOASSERTION
License Family: other
Topics: hand-eye-calibration, robot, camera, ros, hand-eye, calibration
Last push: 2025-11-30T17:04:51+00:00

## Health v2 (maintenance only)
Score: 47/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 54, release rhythm 8, longevity 100
- inputs: {"age_days": 3356, "days_push": 276, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_license
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1172, forks 254 (observed 2026-08-28T04:03:51.755326+00:00)

## What it is
A ROS package with a GUI that automates hand-eye calibration between a robot and a camera/tracking system, supporting eye-in-hand and eye-on-base setups using OpenCV algorithms like Tsai-Lenz. It samples poses via tf, computes the calibration matrix, stores it, and republishes the result as a tf transform at startup.

## Use cases
- calibrate a camera mounted on a robot end-effector (eye-in-hand)
- calibrate a fixed external camera relative to a robot base (eye-on-base)
- publish hand-eye calibration results as a tf transform in ROS
- evaluate the accuracy of an existing hand-eye calibration
- automate robot pose sampling for calibration with MoveIt
- calibrate a robot with an AR marker tracking system

## When to choose
- you use ROS1 and need an automated, hardware-independent hand-eye calibration
- you want a GUI-driven workflow to sample, compute, store, and publish calibration
- you need multiple algorithm options (Tsai-Lenz, Park, Horaud, Andreff, Daniilidis)
- you want calibration results automatically kept up-to-date across system startups

## When to avoid
- you need a ROS2-native solution (use easy_handeye2 instead)
- you are not working within the ROS/tf ecosystem
- you need calibration for non-robotic camera setups without a robot

## Facets
- artifact type: library
- maturity: active
- function: computer-vision, robotics, gui, developer-tools
- domain: robotics, computer-vision
- platform: python
- tags: hand-eye-calibration, ros, tf, opencv, eye-in-hand, eye-on-base, moveit, camera-calibration, automation, linux

## Member repositories
- IFL-CAMP/easy_handeye (main) score 47

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:03:51.755326+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T06:28:25.129660+00:00, confidence not recorded.
  - readme: https://github.com/IFL-CAMP/easy_handeye (fetched 2026-08-28T04:03:51.755326+00:00, sha 24e572309780)
- Data as of 2026-08-30T08:39:29.467469+00:00.