HandEyeCalibration.h

#pragma once
#include <cmath>
#include "Camera.h"
#include "CameraProperties.h"
#include "CommonTypes.h"
 
namespace mmind {
 
namespace eye {
 
class MMIND_API_EXPORT HandEyeCalibration
{
public:
    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,
    };

    struct Transformation
    {
        Transformation() = default;
        Transformation(double x, double y, double z, double qW, double qX, double qY, double qZ)
            : x(x), y(y), z(z), qW(qW), qX(qX), qY(qY), qZ(qZ)
        {
        }
 
        std::string toString() const
        {
            char buff[256] = {0};
            snprintf(buff, sizeof(buff), "%lf,%lf,%lf,%lf,%lf,%lf,%lf", x, y, z, qW, qX, qY, qZ);
            return buff;
        }
        double x{}; // Translation 3*1 vector robot pose unit: mm; extrinsic unit: m.
        double y{};
        double z{};
        double qW{1}; // Quaternion 4*1 vector
        double qX{};
        double qY{};
        double qZ{};
    };

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

    ErrorStatus addPoseAndDetect(Camera& camera, const Transformation& poseData,
                                 Color2DImage& color2DImage, unsigned int timeoutMs = 10000);

    ErrorStatus calculateExtrinsics(Camera& camera, Transformation& cameraToBase);

    ErrorStatus testRecognition(Camera& camera, Color2DImage& testResult,
                                unsigned int timeoutMs = 20000);

    ErrorStatus extractCurrentImageFirstCorner(Camera& camera, PointXYZ& corner,
                                               unsigned int timeoutMs = 20000);
};
 
} // namespace eye
 
} // namespace mmind