Mech-Eye API 2.2.0
API reference documentation for Mech-Eye Industrial 3D Camera
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mmind::eye::HandEyeCalibration Class Reference

Classes

struct  Transformation
 Defines rigid body transformations, including translation vector and quaternion vector. More...
 

Public Types

enum struct  CameraMountingMode { EyeInHand , EyeToHand }
 
enum struct  CalibrationBoardModel {
  BDB_5 , BDB_6 , BDB_7 , OCB_5 ,
  OCB_10 , OCB_15 , OCB_20 , CGB_20 ,
  CGB_35 , CGB_50
}
 

Public Member Functions

ErrorStatus initializeCalibration (Camera &camera, CameraMountingMode mountingMode, CalibrationBoardModel boardModel)
 Sets the board type for this calibration.
 
ErrorStatus addPoseAndDetect (Camera &camera, const Transformation &poseData, Color2DImage &color2DImage, unsigned int timeoutMs=10000)
 Adds current pose of the robot, captures the image, and calculates necessary parameters prepared for calibration.
 
ErrorStatus calculateExtrinsics (Camera &camera, Transformation &cameraToBase)
 Starts to calculate the result of hand-eye calibration.
 
ErrorStatus testRecognition (Camera &camera, Color2DImage &testResult, unsigned int timeoutMs=10000)
 Only captures current image with feature recognition result for test.
 

Detailed Description

Definition at line 10 of file HandEyeCalibration.h.

Member Enumeration Documentation

◆ CalibrationBoardModel

Only takes effect in process of hand-eye calibration. Option for board type. Setter: MechEyeDevice.setBoardType

Definition at line 26 of file HandEyeCalibration.h.

◆ CameraMountingMode

Only takes effect in process of hand-eye calibration. Option for calibration type. Setter: MechEyeDevice.setCalibrateType

Enumerator
EyeInHand 

The camera is mounted in the robot's hand.

EyeToHand 

The camera is fixed mountedwith respect to the robot's base.

Definition at line 17 of file HandEyeCalibration.h.

Member Function Documentation

◆ addPoseAndDetect()

ErrorStatus mmind::eye::HandEyeCalibration::addPoseAndDetect ( Camera camera,
const Transformation poseData,
Color2DImage color2DImage,
unsigned int  timeoutMs = 10000 
)

Adds current pose of the robot, captures the image, and calculates necessary parameters prepared for calibration.

Parameters
[in]valueSee poseData.
Returns
See ErrorStatus for details.

◆ calculateExtrinsics()

ErrorStatus mmind::eye::HandEyeCalibration::calculateExtrinsics ( Camera camera,
Transformation cameraToBase 
)

Starts to calculate the result of hand-eye calibration.

Parameters
[out]valueSee extrinsic.
Returns
See ErrorStatus for details.

◆ initializeCalibration()

ErrorStatus mmind::eye::HandEyeCalibration::initializeCalibration ( Camera camera,
CameraMountingMode  mountingMode,
CalibrationBoardModel  boardModel 
)

Sets the board type for this calibration.

Parameters
[in]valueSee boardType for details.
Returns
See ErrorStatus for details.

◆ testRecognition()

ErrorStatus mmind::eye::HandEyeCalibration::testRecognition ( Camera camera,
Color2DImage testResult,
unsigned int  timeoutMs = 10000 
)

Only captures current image with feature recognition result for test.

Parameters
[in]valueSee colorMap.
Returns
See ErrorStatus for details.

The documentation for this class was generated from the following file: