HandEyeCalibration¶

class HandEyeCalibration¶

Bases: pybind11_object

Tool for hand-eye calibration.

Methods

__init__
calibrate	Compute extrinsic camera parameters : the constant transformation from the effector to the camera frames (eMc).

Inherited Methods

Operators

__doc__
__init__
__module__

Attributes

__annotations__

__init__(*args, **kwargs)¶

static calibrate(cMo: list[visp._visp.core.HomogeneousMatrix], rMe: list[visp._visp.core.HomogeneousMatrix], eMc: visp._visp.core.HomogeneousMatrix) → int¶

Compute extrinsic camera parameters : the constant transformation from the effector to the camera frames (eMc).

Parameters:

cMo: list[visp._visp.core.HomogeneousMatrix]¶

vector of homogeneous matrices representing the transformation between the camera and the scene.

rMe: list[visp._visp.core.HomogeneousMatrix]¶

vector of homogeneous matrices representing the transformation between the effector (where the camera is fixed) and the reference coordinates (base of the manipulator). Must be the same size as cMo.

eMc: visp._visp.core.HomogeneousMatrix¶

homogeneous matrix representing the transformation between the effector and the camera (output)

Returns:

0 if calibration succeed, -1 if the system is not full rank, 1 if the algorithm doesn’t converge.