Classes
class	DetectionResult
	A result returned by the detectFeaturePoints(...) call More...

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

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

class	HandEyeResidual
	Representaton of the estimated errors of a calibrated hand-eye transform More...

class	MultiCameraOutput
	The results from a multi-camera calibration process More...

class	MultiCameraResidual
	Representation of the estimated errors of a multi-camera calibration More...

class	Pose
	Describes a robot pose More...

Functions
ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const DetectionResult &result)
	Serialize the value to a stream More...

ZIVID_CORE_EXPORT DetectionResult	detectFeaturePoints (const PointCloud &cloud)
	Detects feature points from a calibration object in a point cloud. More...

ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const HandEyeInput &handEyeInput)
	Serialize the value to a stream More...

ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const HandEyeResidual &residual)
	Serialize the value to a stream More...

ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const HandEyeOutput &handEyeOutput)
	Serialize the value to a stream More...

ZIVID_CORE_EXPORT HandEyeOutput	calibrateEyeInHand (const std::vector< HandEyeInput > &inputs)
	Performs eye-in-hand calibration. More...

ZIVID_CORE_EXPORT HandEyeOutput	calibrateEyeToHand (const std::vector< HandEyeInput > &inputs)
	Performs eye-to-hand calibration. More...

ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const MultiCameraResidual &residual)
	Serialize the value to a stream More...

ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const MultiCameraOutput &multiCameraOutput)
	Serialize the value to a stream More...

ZIVID_CORE_EXPORT MultiCameraOutput	calibrateMultiCamera (const std::vector< DetectionResult > &detectionResults)
	Performs multi-camera calibration. More...

ZIVID_CORE_EXPORT std::ostream &	operator<< (std::ostream &stream, const Pose &pose)
	Serialize the value to a stream More...

Function Documentation

◆ calibrateEyeInHand()

ZIVID_CORE_EXPORT HandEyeOutput Zivid::Calibration::calibrateEyeInHand ( const std::vector< HandEyeInput > & inputs )

Performs eye-in-hand calibration.

The procedure requires feature point sets acquired at the minimum from two poses. All the input poses have to be different. The feature point sets cannot be empty. All the feature point sets have to have same number of feature points. An exception will be thrown if the above requirements are not fulfilled.

Parameters

inputs Vector of HandEyeInput instances.

Returns: Instance of HandEyeOutput.

◆ calibrateEyeToHand()

ZIVID_CORE_EXPORT HandEyeOutput Zivid::Calibration::calibrateEyeToHand ( const std::vector< HandEyeInput > & inputs )

Performs eye-to-hand calibration.

The procedure requires feature point sets acquired at the minimum from two poses. All the input poses have to be different. The feature point sets cannot be empty. All the feature points have to have same number of elements. An exception will be thrown if the above requirements are not fulfilled.

Parameters

inputs Vector of HandEyeInput instances.

Returns: Instance of HandEyeOutput.

◆ calibrateMultiCamera()

ZIVID_CORE_EXPORT MultiCameraOutput Zivid::Calibration::calibrateMultiCamera ( const std::vector< DetectionResult > & detectionResults )

Performs multi-camera calibration.

Multi-camera calibration is used in a multi-camera setup to find the pose of secondary cameras in the frame of a designated primary camera, e.g. to combine points clouds into a single frame of reference.

The input is generated by imaging the same checkerboard from each camera and inserting the resulting point clouds into detectFeaturePoints. Add the resulting DetectionResult objects to a vector with the first element corresponding to the primary camera.

The returned object contains a vector of transforms, which provides the pose of camera[i] in the frame of camera[0]. Apply transform[i] to the points from camera[i] to get the same points in the frame of camera[0]. The returned object also contains a vector of residuals corresponding to each transform.

Parameters

detectionResults Vector of DetectionResult instances.

Returns: A MultiCameraOutput instance.

◆ detectFeaturePoints()

ZIVID_CORE_EXPORT DetectionResult Zivid::Calibration::detectFeaturePoints ( const PointCloud & cloud )

Detects feature points from a calibration object in a point cloud.

The functionality is to be exclusively used in combination with Zivid verified checkerboards. For further information please visit Zivid help page.

This method is deprecated as of SDK 2.9. Instead you should use the version of detectFeaturePoints that takes a Zivid::Frame or Zivid::Camera. See Zivid::Experimental::Calibration::detectFeaturePoints(const Zivid::Frame &frame) and Zivid::Experimental::Calibration::detectFeaturePoints(Zivid::Camera &camera).

Parameters

cloud Point cloud from a frame containing an image of a calibration object