Visual Servoing Platform  version 3.2.1 under development (2019-10-21) under development (2019-10-21)
tutorial-hand-eye-calibration.cpp
#include <visp3/vision/vpHandEyeCalibration.h>
int main(int argc, char *argv[])
{
unsigned int ndata = 0;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--ndata" && i+1 < argc) {
ndata = atoi(argv[i+1]);
} else if (std::string(argv[i]) == "--help") {
std::cout << argv[0] << " [--ndata <number of data to process>] "
"[--help]" << std::endl;
return EXIT_SUCCESS;
}
}
if (ndata == 0) {
std::cout << "Number of data to process not specified" << std::endl;
std::cout << argv[0] << " --help" << std::endl;
return EXIT_SUCCESS;
}
std::vector<vpHomogeneousMatrix> cMo(ndata);
std::vector<vpHomogeneousMatrix> wMe(ndata);
for (unsigned int i = 1; i <= ndata; i++) {
std::ostringstream ss_fPe, ss_cPo;
ss_fPe << "pose_fPe_" << i << ".yaml";
ss_cPo << "pose_cPo_" << i << ".yaml";
std::cout << "Use fPe=" << ss_fPe.str() << ", cPo=" << ss_cPo.str() << std::endl;
if (wPe.loadYAML(ss_fPe.str(), wPe) == false) {
std::cout << "Unable to read data from: " << ss_fPe.str() << std::endl;
return EXIT_FAILURE;
}
wMe[i - 1] = vpHomogeneousMatrix(wPe);
if (cPo.loadYAML(ss_cPo.str(), cPo) == false) {
std::cout << "Unable to read data from: " << ss_cPo.str() << std::endl;
return EXIT_FAILURE;
}
cMo[i-1] = vpHomogeneousMatrix(cPo);
}
// save eMc
std::ofstream file_eMc("eMc.txt");
eMc.save(file_eMc);
vpPoseVector pose_vec(eMc);
std::cout << "\nSave eMc.yaml" << std::endl;
pose_vec.saveYAML("eMc.yaml", pose_vec);
std::cout << "\nOutput: Hand-eye calibration result: eMc estimated " << std::endl;
std::cout << eMc << std::endl;
vpThetaUVector ePc(eMc);
std::cout << "theta U (deg): " << vpMath::deg(ePc[0]) << " " << vpMath::deg(ePc[1]) << " " << vpMath::deg(ePc[2]) << std::endl;
return EXIT_SUCCESS;
}