HandEyeLowDOF.h

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#pragma once
 
#include <Zivid/Calibration/HandEyeInput.h>
#include <Zivid/Calibration/HandEyeOutput.h>
#include <Zivid/Calibration/MarkerDictionary.h>
#include <Zivid/Calibration/Pose.h>
#include <Zivid/Detail/CoreExport.h>
#include <Zivid/Detail/Pimpl.h>
#include <Zivid/Point.h>
 
#include <iosfwd>
#include <string>
#include <vector>
 
namespace Zivid::Experimental::Calibration
{
    using Zivid::Calibration::HandEyeInput;
    using Zivid::Calibration::HandEyeOutput;
    using Zivid::Calibration::MarkerDictionary;
    using Zivid::Calibration::Pose;
 
    namespace HandEyeLowDOF
    {
        class FixedPlacementOfFiducialMarker
        {
            ZIVID_PIMPL_VALUE_SEMANTICS(FixedPlacementOfFiducialMarker, ZIVID_CORE_EXPORT);
 
        public:
            ZIVID_CORE_EXPORT FixedPlacementOfFiducialMarker(int markerId, PointXYZ position);

            ZIVID_CORE_EXPORT int id() const;

            ZIVID_CORE_EXPORT PointXYZ position() const;

            ZIVID_CORE_EXPORT std::string toString() const;
        };
 
        ZIVID_CORE_EXPORT std::ostream &operator<<(std::ostream &stream, const FixedPlacementOfFiducialMarker &marker);

        class FixedPlacementOfFiducialMarkers
        {
            ZIVID_PIMPL_VALUE_SEMANTICS(FixedPlacementOfFiducialMarkers, ZIVID_CORE_EXPORT);
 
        public:
            ZIVID_CORE_EXPORT FixedPlacementOfFiducialMarkers(
                const MarkerDictionary &dictionary,
                const std::vector<FixedPlacementOfFiducialMarker> &markers);

            ZIVID_CORE_EXPORT std::string toString() const;
        };
 
        ZIVID_CORE_EXPORT std::ostream &operator<<(
            std::ostream &stream,
            const FixedPlacementOfFiducialMarkers &markers);

        class FixedPlacementOfCalibrationBoard
        {
            ZIVID_PIMPL_VALUE_SEMANTICS(FixedPlacementOfCalibrationBoard, ZIVID_CORE_EXPORT);
 
        public:
            ZIVID_CORE_EXPORT FixedPlacementOfCalibrationBoard(PointXYZ position);

            ZIVID_CORE_EXPORT FixedPlacementOfCalibrationBoard(const Pose &pose);

            ZIVID_CORE_EXPORT std::string toString() const;
        };
 
        ZIVID_CORE_EXPORT std::ostream &operator<<(
            std::ostream &stream,
            const FixedPlacementOfCalibrationBoard &calibrationBoard);

        class FixedPlacementOfCalibrationObjects
        {
            ZIVID_PIMPL_VALUE_SEMANTICS(FixedPlacementOfCalibrationObjects, ZIVID_CORE_EXPORT);
 
        public:
            ZIVID_CORE_EXPORT FixedPlacementOfCalibrationObjects(const FixedPlacementOfFiducialMarkers &markers);

            ZIVID_CORE_EXPORT FixedPlacementOfCalibrationObjects(
                const FixedPlacementOfCalibrationBoard &calibrationBoard);

            ZIVID_CORE_EXPORT std::string toString() const;
        };
 
        ZIVID_CORE_EXPORT std::ostream &operator<<(
            std::ostream &stream,
            const FixedPlacementOfCalibrationObjects &fixedObjects);
    } // namespace HandEyeLowDOF

    ZIVID_CORE_EXPORT HandEyeOutput calibrateEyeInHandLowDOF(
        const std::vector<HandEyeInput> &inputs,
        const HandEyeLowDOF::FixedPlacementOfCalibrationObjects &fixedObjects);

    ZIVID_CORE_EXPORT HandEyeOutput calibrateEyeToHandLowDOF(
        const std::vector<HandEyeInput> &inputs,
        const HandEyeLowDOF::FixedPlacementOfCalibrationObjects &fixedObjects);
 
} // namespace Zivid::Experimental::Calibration