Visual Servoing Platform version 3.6.0
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vpHandEyeCalibration.h
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * Hand-eye calibration.
32 */
33
40#ifndef _vpHandEyeCalibration_h_
41#define _vpHandEyeCalibration_h_
42
43#include <vector>
44#include <visp3/core/vpExponentialMap.h>
45#include <visp3/core/vpHomogeneousMatrix.h>
46#include <visp3/core/vpMath.h>
47#include <visp3/core/vpMatrix.h>
48
56class VISP_EXPORT vpHandEyeCalibration
57{
58public:
73 static int calibrate(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
75
76private:
77 static void calibrationVerifrMo(const std::vector<vpHomogeneousMatrix> &cMo,
78 const std::vector<vpHomogeneousMatrix> &rMe, const vpHomogeneousMatrix &eMc);
79 static int calibrationRotationTsai(const std::vector<vpHomogeneousMatrix> &cMo,
80 const std::vector<vpHomogeneousMatrix> &rMe, vpRotationMatrix &eRc);
81 static int calibrationRotationTsaiOld(const std::vector<vpHomogeneousMatrix> &cMo,
82 const std::vector<vpHomogeneousMatrix> &rMe, vpRotationMatrix &eRc);
83 static int calibrationRotationProcrustes(const std::vector<vpHomogeneousMatrix> &cMo,
84 const std::vector<vpHomogeneousMatrix> &rMe, vpRotationMatrix &eRc);
85 static int calibrationTranslation(const std::vector<vpHomogeneousMatrix> &cMo,
86 const std::vector<vpHomogeneousMatrix> &rMe, vpRotationMatrix &eRc,
88 static int calibrationTranslationOld(const std::vector<vpHomogeneousMatrix> &cMo,
89 const std::vector<vpHomogeneousMatrix> &rMe, vpRotationMatrix &eRc,
91 static double calibrationErrVVS(const std::vector<vpHomogeneousMatrix> &cMo,
92 const std::vector<vpHomogeneousMatrix> &rMe, const vpHomogeneousMatrix &eMc,
93 vpColVector &errVVS);
94 static int calibrationVVS(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
96};
97
98#endif
Implementation of column vector and the associated operations.
Tool for hand-eye calibration.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a rotation matrix and operations on such kind of matrices.
Class that consider the case of a translation vector.