Visual Servoing Platform  version 3.5.1 under development (2022-10-02)
vpHandEyeCalibration.h
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30  *
31  * Description:
32  * Hand-eye calibration.
33  *
34  * Authors:
35  * Francois Chaumette
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
46 #ifndef _vpHandEyeCalibration_h_
47 #define _vpHandEyeCalibration_h_
48 
49 #include <vector>
50 #include <visp3/core/vpExponentialMap.h>
51 #include <visp3/core/vpHomogeneousMatrix.h>
52 #include <visp3/core/vpMath.h>
53 #include <visp3/core/vpMatrix.h>
54 
63 class VISP_EXPORT vpHandEyeCalibration
64 {
65 public:
66  static int calibrate(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
67  vpHomogeneousMatrix &eMc);
68 
69 private:
70  static void calibrationVerifrMo(const std::vector<vpHomogeneousMatrix> &cMo,
71  const std::vector<vpHomogeneousMatrix> &rMe, const vpHomogeneousMatrix &eMc);
72  static int calibrationRotationTsai(const std::vector<vpHomogeneousMatrix> &cMo,
73  const std::vector<vpHomogeneousMatrix> &rMe, vpRotationMatrix &eRc);
74  static int calibrationRotationTsaiOld(const std::vector<vpHomogeneousMatrix> &cMo,
75  const std::vector<vpHomogeneousMatrix> &rMe, vpRotationMatrix &eRc);
76  static int calibrationRotationProcrustes(const std::vector<vpHomogeneousMatrix> &cMo,
77  const std::vector<vpHomogeneousMatrix> &rMe, vpRotationMatrix &eRc);
78  static int calibrationTranslation(const std::vector<vpHomogeneousMatrix> &cMo,
79  const std::vector<vpHomogeneousMatrix> &rMe, vpRotationMatrix &eRc,
80  vpTranslationVector &eTc);
81  static int calibrationTranslationOld(const std::vector<vpHomogeneousMatrix> &cMo,
82  const std::vector<vpHomogeneousMatrix> &rMe, vpRotationMatrix &eRc,
83  vpTranslationVector &eTc);
84  static double calibrationErrVVS(const std::vector<vpHomogeneousMatrix> &cMo,
85  const std::vector<vpHomogeneousMatrix> &rMe, const vpHomogeneousMatrix &eMc,
86  vpColVector &errVVS);
87  static int calibrationVVS(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
88  vpHomogeneousMatrix &eMc);
89 };
90 
91 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
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.