HandEyeCalibration Class Reference

#include <HandEyeCalibration.h>

Data Structures
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 model and camera mounting mode 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.

Member Enumeration Documentation

CalibrationBoardModel

enum struct CalibrationBoardModel

strong

Only takes effect in process of hand-eye calibration. Option for board model.

Enumerator
BDB_5
BDB_6
BDB_7
OCB_5
OCB_10
OCB_15
OCB_20
CGB_20
CGB_35
CGB_50

CameraMountingMode

enum struct CameraMountingMode

strong

Only takes effect in process of hand-eye calibration. Option for camera mounting mode.

Enumerator
EyeInHand	The camera is mounted in the robot's hand.
EyeToHand	The camera is fixed mounted with respect to the robot's base.

Member Function Documentation

addPoseAndDetect()

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.

Parameters

[in]	camera	The camera handle.
[in]	poseData	The current pose of the robot. See Transformation for details.
[out]	color2DImage	The current 2D image with feature recognition result. See Color2DImage for details.
[in]	timeoutMs	The timeout for connecting a camera in ms unit. If the execution time of the connecting process is greater than the timeout, the function will immediately return ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR.

Returns

See ErrorStatus for details.

calculateExtrinsics()

ErrorStatus calculateExtrinsics	(	Camera &	camera,
		Transformation &	cameraToBase
	)

Starts to calculate the result of hand-eye calibration.

Parameters

[in]	camera	The camera handle.
[out]	cameraToBase	The result of hand-eye calibration. See Transformation for details.

Returns

See ErrorStatus for details.

initializeCalibration()

ErrorStatus initializeCalibration	(	Camera &	camera,
		CameraMountingMode	mountingMode,
		CalibrationBoardModel	boardModel
	)

Sets the board model and camera mounting mode for this calibration.

Parameters

[in]	camera	The camera handle.
[in]	mountingMode	The camera mounting mode. See CameraMountingMode for details.
[in]	boardModel	The calibration board model. See CalibrationBoardModel for details.

Returns

See ErrorStatus for details.

testRecognition()

ErrorStatus testRecognition	(	Camera &	camera,
		Color2DImage &	testResult,
		unsigned int	timeoutMs = 10000
	)

Only captures current image with feature recognition result for test.

Parameters

[in]	camera	The camera handle.
[out]	testResult	The current 2D image with feature recognition result. See Color2DImage for details.
[in]	timeoutMs	The timeout for connecting a camera in ms unit. If the execution time of the connecting process is greater than the timeout, the function will immediately return ErrorStatus::MMIND_STATUS_TIMEOUT_ERROR.

Returns

See ErrorStatus for details.

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

• area_scan_3d_camera/HandEyeCalibration.h