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

enum struct mmind::eye::HandEyeCalibration::CalibrationBoardModel

strong

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

enum struct mmind::eye::HandEyeCalibration::CameraMountingMode

strong

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]

value

See 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]

value

See 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]

value

See 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]

value

See colorMap.

Returns

See ErrorStatus for details.

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

• include/camera/area_scan_3d_camera/HandEyeCalibration.h