Binds together a robot pose and the detection result acquired from the pose. More...

#include <Zivid/Calibration/HandEye.h>

Public Member Functions
ZIVID_CORE_EXPORT	HandEyeInput (const Pose &robotPose, const DetectionResult &detectionResult)
	Constructs a HandEyeInput instance from a calibration board detection result.

ZIVID_CORE_EXPORT	HandEyeInput (const Pose &robotPose, const DetectionResultFiducialMarkers &detectionResult)
	Constructs a HandEyeInput instance from a fiducial marker detection result.

ZIVID_CORE_EXPORT const Pose &	robotPose () const
	Robot pose for the detected object(s).

ZIVID_CORE_EXPORT const DetectionResult &	detectionResult () const
	Feature detection result.

ZIVID_CORE_EXPORT std::string	toString () const
	Get string representation of the hand-eye calibration input.

Detailed Description

Binds together a robot pose and the detection result acquired from the pose.

Constructor & Destructor Documentation

◆ HandEyeInput() [1/2]

ZIVID_CORE_EXPORT Zivid::Calibration::HandEyeInput::HandEyeInput	(	const Pose &	robotPose,
		const DetectionResult &	detectionResult )

Constructs a HandEyeInput instance from a calibration board detection result.

Parameters

robotPose	Robot pose for detected feature points.
detectionResult	Calibration board detection result.

Note: the units of the input robot poses must be consistent with the units of the point clouds used to create the detection result. Zivid point clouds are, by default, in millimeters.

◆ HandEyeInput() [2/2]

ZIVID_CORE_EXPORT Zivid::Calibration::HandEyeInput::HandEyeInput	(	const Pose &	robotPose,
		const DetectionResultFiducialMarkers &	detectionResult )

Constructs a HandEyeInput instance from a fiducial marker detection result.

Parameters

robotPose	Robot pose for the detected markers.
detectionResult	Fiducial marker detection result.

Note: the units of the input robot poses must be consistent with the units of the point clouds used to create the detection result. Zivid point clouds are, by default, in millimeters.

Member Function Documentation

◆ detectionResult()

ZIVID_CORE_EXPORT const DetectionResult & Zivid::Calibration::HandEyeInput::detectionResult ( ) const

Feature detection result.

Only use this function if the HandEyeInput was created from a DetectionResult object. Throws an exception otherwise.

Returns: Detection result.

◆ robotPose()

ZIVID_CORE_EXPORT const Pose & Zivid::Calibration::HandEyeInput::robotPose ( ) const

Robot pose for the detected object(s).

Returns: Robot pose.

◆ toString()

ZIVID_CORE_EXPORT std::string Zivid::Calibration::HandEyeInput::toString ( ) const

Get string representation of the hand-eye calibration input.

Returns: Hand-eye calibration input as string.

The documentation for this class was generated from the following file:

Zivid/Calibration/HandEye.h

Public Member Functions