The hand-eye calibration result containing the computed pose and reprojection errors for all the input poses. More...

#include <Zivid/Calibration/HandEye.h>

Public Member Functions
ZIVID_CORE_EXPORT	HandEyeOutput (const Matrix4x4 &transform, const std::vector< HandEyeResidual > &residuals)
	Constructs a HandEyeOutput instance.

ZIVID_CORE_EXPORT bool	valid () const
	Test if HandEyeOutput is valid.

ZIVID_CORE_EXPORT	operator bool () const
	Test if HandEyeOutput is valid.

ZIVID_CORE_EXPORT const Matrix4x4 &	transform () const
	Hand-eye transform.

ZIVID_CORE_EXPORT const std::vector< HandEyeResidual > &	residuals () const
	Hand-eye calibration residuals.

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

Detailed Description

The hand-eye calibration result containing the computed pose and reprojection errors for all the input poses.

For eye-in-hand, the computed pose represents camera pose in robot end-effector frame.

For eye-to-hand, the computed pose represents camera pose in robot base frame.

Constructor & Destructor Documentation

◆ HandEyeOutput()

ZIVID_CORE_EXPORT Zivid::Calibration::HandEyeOutput::HandEyeOutput	(	const Matrix4x4 &	transform,
		const std::vector< HandEyeResidual > &	residuals )

Constructs a HandEyeOutput instance.

Parameters

transform	Computed hand-eye calibration transform (camera pose in robot end-effector frame for eye-in-hand or camera pose in robot base frame for eye-to-hand).
residuals	Per pose hand-eye residuals.

Member Function Documentation

◆ operator bool()

ZIVID_CORE_EXPORT Zivid::Calibration::HandEyeOutput::operator bool ( ) const

explicit

Test if HandEyeOutput is valid.

Returns: True if HandEyeOutput is valid.

◆ residuals()

ZIVID_CORE_EXPORT const std::vector< HandEyeResidual > & Zivid::Calibration::HandEyeOutput::residuals ( ) const

Hand-eye calibration residuals.

Feature points (for each input pose) are transformed into a common frame. A rigid transform between feature points and corresponding centroids are utilized to compute residuals for rotational and translational parts. An exception is thrown if the result is not valid.

Returns: Vector of hand-eye calibration residuals.

◆ toString()

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

Get string representation of the hand-eye calibration output.

Returns: Calibration output as string

◆ transform()

ZIVID_CORE_EXPORT const Matrix4x4 & Zivid::Calibration::HandEyeOutput::transform ( ) const

Hand-eye transform.

A computed 4x4 matrix describing hand-eye calibration transform (camera pose in robot end-effector frame for eye-in-hand or camera pose in robot base frame for eye-to-hand). The units of the translation part are the same as the units of the input.

eye-in-hand: camera pose in robot end-effector frame.

eye-to-hand: camera pose in robot base frame.

An exception is thrown if the result is not valid.

Returns: 4x4 transformation matrix.

◆ valid()

ZIVID_CORE_EXPORT bool Zivid::Calibration::HandEyeOutput::valid ( ) const