Mech-Eye API 2.2.0
API reference documentation for Mech-Eye Industrial 3D Camera
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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. | |
Definition at line 10 of file HandEyeCalibration.h.
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Only takes effect in process of hand-eye calibration. Option for board type. Setter: MechEyeDevice.setBoardType
Definition at line 26 of file HandEyeCalibration.h.
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Only takes effect in process of hand-eye calibration. Option for calibration type. Setter: MechEyeDevice.setCalibrateType
Enumerator | |
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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.
ErrorStatus mmind::eye::HandEyeCalibration::addPoseAndDetect | ( | Camera & | camera, |
const Transformation & | poseData, | ||
Color2DImage & | color2DImage, | ||
unsigned int | timeoutMs = 10000 |
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Adds current pose of the robot, captures the image, and calculates necessary parameters prepared for calibration.
[in] | value | See poseData. |
ErrorStatus mmind::eye::HandEyeCalibration::calculateExtrinsics | ( | Camera & | camera, |
Transformation & | cameraToBase | ||
) |
Starts to calculate the result of hand-eye calibration.
[out] | value | See extrinsic. |
ErrorStatus mmind::eye::HandEyeCalibration::initializeCalibration | ( | Camera & | camera, |
CameraMountingMode | mountingMode, | ||
CalibrationBoardModel | boardModel | ||
) |
Sets the board type for this calibration.
[in] | value | See boardType for details. |
ErrorStatus mmind::eye::HandEyeCalibration::testRecognition | ( | Camera & | camera, |
Color2DImage & | testResult, | ||
unsigned int | timeoutMs = 10000 |
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Only captures current image with feature recognition result for test.
[in] | value | See colorMap. |