HandEye.h

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/*******************************************************************************
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 * Zivid Software License, v1.0
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 * 4. This software, with or without modification, must not be used with any
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#pragma once
 
#include "Zivid/Calibration/DetectionResultFiducialMarkers.h"
#include "Zivid/Calibration/Detector.h"
#include "Zivid/Calibration/Pose.h"
#include "Zivid/Detail/CoreExport.h"
 
#include <Zivid/Matrix.h>
 
#include <vector>
 
namespace Zivid
{
    namespace Calibration
    {
        class HandEyeInput
        {
            ZIVID_PIMPL_VALUE_SEMANTICS(HandEyeInput, ZIVID_CORE_EXPORT);
 
        public:
            ZIVID_CORE_EXPORT HandEyeInput(const Pose &robotPose, const DetectionResult &detectionResult);
 
            ZIVID_CORE_EXPORT HandEyeInput(
                const Pose &robotPose,
                const DetectionResultFiducialMarkers &detectionResult);
 
            ZIVID_CORE_EXPORT const Pose &robotPose() const;
 
            ZIVID_CORE_EXPORT const DetectionResult &detectionResult() const;
 
            ZIVID_CORE_EXPORT std::string toString() const;
        };
 
        ZIVID_CORE_EXPORT std::ostream &operator<<(std::ostream &stream, const HandEyeInput &handEyeInput);
 
        class HandEyeResidual
        {
        public:
            ZIVID_CORE_EXPORT HandEyeResidual(float rotation, float translation);
 
            ZIVID_CORE_EXPORT float rotation() const;
 
            ZIVID_CORE_EXPORT float translation() const;
 
            ZIVID_CORE_EXPORT std::string toString() const;
 
        private:
            float m_rotation;
            float m_translation;
        };
 
        ZIVID_CORE_EXPORT std::ostream &operator<<(std::ostream &stream, const HandEyeResidual &residual);
 
        class HandEyeOutput
        {
        public:
            ZIVID_CORE_EXPORT HandEyeOutput(const Matrix4x4 &transform, const std::vector<HandEyeResidual> &residuals);
 
            ZIVID_CORE_EXPORT bool valid() const;
 
            ZIVID_CORE_EXPORT explicit operator bool() const;
 
            ZIVID_CORE_EXPORT const Matrix4x4 &transform() const;
 
            ZIVID_CORE_EXPORT const std::vector<HandEyeResidual> &residuals() const;
 
            ZIVID_CORE_EXPORT std::string toString() const;
 
        private:
            Matrix4x4 m_transform;
            std::vector<HandEyeResidual> m_residuals;
        };
 
        ZIVID_CORE_EXPORT std::ostream &operator<<(std::ostream &stream, const HandEyeOutput &handEyeOutput);
 
        ZIVID_CORE_EXPORT HandEyeOutput calibrateEyeInHand(const std::vector<HandEyeInput> &inputs);
 
        ZIVID_CORE_EXPORT HandEyeOutput calibrateEyeToHand(const std::vector<HandEyeInput> &inputs);
 
    } // namespace Calibration
} // namespace Zivid