Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
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 
67  static int calibrate(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
68  vpHomogeneousMatrix &eMc);
69 
70 private:
71  static void calibrationVerifrMo(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
72  const vpHomogeneousMatrix &eMc);
73  static int calibrationRotationTsai(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
74  vpRotationMatrix &eRc);
75  static int calibrationRotationTsaiOld(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
76  vpRotationMatrix &eRc);
77  static int calibrationRotationProcrustes(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
78  vpRotationMatrix &eRc);
79  static int calibrationTranslation(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
81  static int calibrationTranslationOld(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
83  static double calibrationErrVVS(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
84  const vpHomogeneousMatrix &eMc, vpColVector &errVVS);
85  static int calibrationVVS(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
86  vpHomogeneousMatrix &eMc);
87 };
88 
89 #endif
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.
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
Class that consider the case of a translation vector.