Zivid C++ API 2.9.0+4dbba385-1
Defining the Future of 3D Machine Vision
HandEye.h
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89#pragma once
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95#include <Zivid/Matrix.h>
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97#include <vector>
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99namespace Zivid
100{
101 namespace Calibration
102 {
107 {
108 public:
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124 ZIVID_CORE_EXPORT std::string toString() const;
125
126 private:
127 Pose m_robotPose;
128 DetectionResult m_result;
129 };
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132 ZIVID_CORE_EXPORT std::ostream &operator<<(std::ostream &stream, const HandEyeInput &handEyeInput);
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138 {
139 public:
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155 ZIVID_CORE_EXPORT std::string toString() const;
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157 private:
158 float m_rotation;
159 float m_translation;
160 };
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163 ZIVID_CORE_EXPORT std::ostream &operator<<(std::ostream &stream, const HandEyeResidual &residual);
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169 {
170 public:
174 ZIVID_CORE_EXPORT HandEyeOutput(const Matrix4x4 &transform, const std::vector<HandEyeResidual> &residuals);
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179
182 ZIVID_CORE_EXPORT explicit operator bool() const;
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200 ZIVID_CORE_EXPORT const std::vector<HandEyeResidual> &residuals() const;
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204 ZIVID_CORE_EXPORT std::string toString() const;
205
206 private:
207 Matrix4x4 m_transform;
208 std::vector<HandEyeResidual> m_residuals;
209 };
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212 ZIVID_CORE_EXPORT std::ostream &operator<<(std::ostream &stream, const HandEyeOutput &handEyeOutput);
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223 ZIVID_CORE_EXPORT HandEyeOutput calibrateEyeInHand(const std::vector<HandEyeInput> &inputs);
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234 ZIVID_CORE_EXPORT HandEyeOutput calibrateEyeToHand(const std::vector<HandEyeInput> &inputs);
235
236 } // namespace Calibration
237} // namespace Zivid
#define ZIVID_CORE_EXPORT
Definition: CoreExport.h:101
A result returned by the detectFeaturePoints(...) call
Definition: DetectionResult.h:106
Binds together a robot pose and the detection result acquired from the pose
Definition: HandEye.h:107
ZIVID_CORE_EXPORT HandEyeInput(const Pose &robotPose, const DetectionResult &detectionResult)
Constructs a HandEyeInput instance.
ZIVID_CORE_EXPORT std::string toString() const
Get string representation of the hand-eye calibration input
ZIVID_CORE_EXPORT const Pose & robotPose() const
Robot pose for detected feature points.
ZIVID_CORE_EXPORT const DetectionResult & detectionResult() const
Feature detection result.
The hand-eye calibration result containing the computed pose and reprojection errors for all the inpu...
Definition: HandEye.h:169
ZIVID_CORE_EXPORT std::string toString() const
Get string representation of the hand-eye calibration output
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 const Matrix4x4 & transform() const
Hand-eye transform.
ZIVID_CORE_EXPORT const std::vector< HandEyeResidual > & residuals() const
Hand-eye calibration residuals.
Representaton of the estimated errors of a calibrated hand-eye transform
Definition: HandEye.h:138
ZIVID_CORE_EXPORT float translation() const
Translational residual in millimeters.
ZIVID_CORE_EXPORT std::string toString() const
Get string representation of the hand-eye residual
ZIVID_CORE_EXPORT float rotation() const
Rotational residual in degrees.
ZIVID_CORE_EXPORT HandEyeResidual(float rotation, float translation)
Constructs a hand-eye residual instance.
Describes a robot pose
Definition: Pose.h:103
ZIVID_CORE_EXPORT HandEyeOutput calibrateEyeToHand(const std::vector< HandEyeInput > &inputs)
Performs eye-to-hand calibration.
ZIVID_CORE_EXPORT std::ostream & operator<<(std::ostream &stream, const DetectionResult &result)
Serialize the value to a stream
ZIVID_CORE_EXPORT HandEyeOutput calibrateEyeInHand(const std::vector< HandEyeInput > &inputs)
Performs eye-in-hand calibration.
The main Zivid namespace. All Zivid code is found here
Definition: Application.h:99