Visual Servoing Platform version 3.5.0
vpHandEyeCalibration.h
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2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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6 * This software is free software; you can redistribute it and/or modify
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9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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17 * See http://visp.inria.fr for more information.
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19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
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26 * Inria at visp@inria.fr
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28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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
63class VISP_EXPORT vpHandEyeCalibration
64{
65public:
66
67 static int calibrate(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
69
70private:
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,
87};
88
89#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.