Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpHandEyeCalibration.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation; either version 2 of the License, or
8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See https://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Hand-eye calibration.
32  */
33 
40 #ifndef _vpHandEyeCalibration_h_
41 #define _vpHandEyeCalibration_h_
42 
43 #include <vector>
44 #include <visp3/core/vpExponentialMap.h>
45 #include <visp3/core/vpHomogeneousMatrix.h>
46 #include <visp3/core/vpMath.h>
47 #include <visp3/core/vpMatrix.h>
48 
56 class VISP_EXPORT vpHandEyeCalibration
57 {
58 public:
73  static int calibrate(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
74  vpHomogeneousMatrix &eMc);
75 
76 private:
77  static void calibrationVerifrMo(const std::vector<vpHomogeneousMatrix> &cMo,
78  const std::vector<vpHomogeneousMatrix> &rMe, const vpHomogeneousMatrix &eMc);
79  static int calibrationRotationTsai(const std::vector<vpHomogeneousMatrix> &cMo,
80  const std::vector<vpHomogeneousMatrix> &rMe, vpRotationMatrix &eRc);
81  static int calibrationRotationTsaiOld(const std::vector<vpHomogeneousMatrix> &cMo,
82  const std::vector<vpHomogeneousMatrix> &rMe, vpRotationMatrix &eRc);
83  static int calibrationRotationProcrustes(const std::vector<vpHomogeneousMatrix> &cMo,
84  const std::vector<vpHomogeneousMatrix> &rMe, vpRotationMatrix &eRc);
85  static int calibrationTranslation(const std::vector<vpHomogeneousMatrix> &cMo,
86  const std::vector<vpHomogeneousMatrix> &rMe, vpRotationMatrix &eRc,
87  vpTranslationVector &eTc);
88  static int calibrationTranslationOld(const std::vector<vpHomogeneousMatrix> &cMo,
89  const std::vector<vpHomogeneousMatrix> &rMe, vpRotationMatrix &eRc,
90  vpTranslationVector &eTc);
91  static double calibrationErrVVS(const std::vector<vpHomogeneousMatrix> &cMo,
92  const std::vector<vpHomogeneousMatrix> &rMe, const vpHomogeneousMatrix &eMc,
93  vpColVector &errVVS);
94  static int calibrationVVS(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
95  vpHomogeneousMatrix &eMc);
96 };
97 
98 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
Tool for hand-eye calibration.
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a rotation matrix and operations on such kind of matrices.
Class that consider the case of a translation vector.