Visual Servoing Platform version 3.5.0
tutorial-hand-eye-calibration.cpp
1
2#include <map>
3
4#include <visp3/core/vpIoTools.h>
5#include <visp3/vision/vpHandEyeCalibration.h>
6
7void usage(const char *argv[], int error)
8{
9 std::cout << "Synopsis" << std::endl
10 << " " << argv[0] << " [--data-path <path>] [--help] [-h]" << std::endl << std::endl;
11 std::cout << "Description" << std::endl
12 << " --data-path <path> Path to the folder containing" << std::endl
13 << " pose_fPe_%d.yaml and pose_cPo_%d.yaml data files." << std::endl
14 << " Default: \"./\"" << std::endl << std::endl
15 << " --help, -h Print this helper message." << std::endl << std::endl;
16 if (error) {
17 std::cout << "Error" << std::endl
18 << " " << "Unsupported parameter " << argv[error] << std::endl;
19 }
20}
21
22int main(int argc, const char *argv[])
23{
24 std::string data_path = "./";
25 for (int i = 1; i < argc; i++) {
26 if (std::string(argv[i]) == "--data-path" && i+1 < argc) {
27 data_path = std::string(argv[i+1]);
28 i ++;
29 }
30 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
31 usage(argv, 0);
32 return EXIT_SUCCESS;
33 }
34 else {
35 usage(argv, i);
36 return EXIT_FAILURE;
37 }
38 }
39
40 std::vector<vpHomogeneousMatrix> cMo;
41 std::vector<vpHomogeneousMatrix> wMe;
43
44 std::map<long, std::string> map_fPe_files;
45 std::map<long, std::string> map_cPo_files;
46 std::vector<std::string> files = vpIoTools::getDirFiles(data_path);
47 for (unsigned int i = 0; i < files.size(); i++) {
48 long index_fPe = vpIoTools::getIndex(files[i], "pose_fPe_%d.yaml");
49 long index_cPo = vpIoTools::getIndex(files[i], "pose_cPo_%d.yaml");
50 if (index_fPe != -1) {
51 map_fPe_files[index_fPe] = files[i];
52 }
53 if (index_cPo != -1) {
54 map_cPo_files[index_cPo] = files[i];
55 }
56 }
57
58 if (map_fPe_files.size() == 0) {
59 std::cout << "No pose_fPe_%d.yaml files found. Use --data-path <path> option to modify data path." << std::endl;
60 return EXIT_FAILURE;
61 }
62 if (map_cPo_files.size() == 0) {
63 std::cout << "No pose_cPo_%d.yaml files found. Use --data-path <path> option to modify data path." << std::endl;
64 return EXIT_FAILURE;
65 }
66
67 for (std::map<long, std::string>::const_iterator it_fPe = map_fPe_files.begin(); it_fPe != map_fPe_files.end(); ++ it_fPe) {
68 std::string file_fPe = it_fPe->second;
69 std::map<long, std::string>::const_iterator it_cPo = map_cPo_files.find(it_fPe->first);
70 if (it_cPo != map_cPo_files.end()) {
71 std::string file_cPo = it_cPo->second;
72 vpPoseVector wPe;
73 if (wPe.loadYAML(file_fPe, wPe) == false) {
74 std::cout << "Unable to read data from " << data_path << "/" << file_fPe << ". Skip data" << std::endl;
75 continue;
76 }
77
78 vpPoseVector cPo;
79 if (cPo.loadYAML(file_cPo, cPo) == false) {
80 std::cout << "Unable to read data from " << data_path << "/" << file_cPo << ". Skip data" << std::endl;
81 continue;
82 }
83 std::cout << "Use data from " << data_path << "/" << file_fPe << " and from " << data_path << "/" << file_cPo << std::endl;
84 wMe.push_back(vpHomogeneousMatrix(wPe));
85 cMo.push_back(vpHomogeneousMatrix(cPo));
86 }
87 }
88
89 if (wMe.size() < 3) {
90 std::cout << "Not enough data pairs found." << std::endl;
91 return EXIT_FAILURE;
92 }
93
94 int ret = vpHandEyeCalibration::calibrate(cMo, wMe, eMc);
95
96 if (ret == 0) {
97 std::cout << std::endl << "** Hand-eye calibration succeed" << std::endl;
98 std::cout << std::endl << "** Hand-eye (eMc) transformation estimated:" << std::endl;
99 std::cout << eMc << std::endl;
100 std::cout << "** Corresponding pose vector: " << vpPoseVector(eMc).t() << std::endl;
101
103 std::cout << std::endl << "** Translation [m]: " << eMc[0][3] << " " << eMc[1][3] << " " << eMc[2][3] << std::endl;
104 std::cout << "** Rotation (theta-u representation) [rad]: " << erc.t() << std::endl;
105 std::cout << "** Rotation (theta-u representation) [deg]: " << vpMath::deg(erc[0]) << " " << vpMath::deg(erc[1]) << " " << vpMath::deg(erc[2]) << std::endl;
106 vpQuaternionVector quaternion(eMc.getRotationMatrix());
107 std::cout << "** Rotation (quaternion representation) [rad]: " << quaternion.t() << std::endl;
108
109 // save eMc
110 std::ofstream file_eMc("eMc.txt");
111 eMc.save(file_eMc);
112
113 vpPoseVector pose_vec(eMc);
114 std::string output_filename("eMc.yaml");
115 std::cout << std::endl << "Save transformation matrix eMc as a vpPoseVector in " << output_filename << std::endl;
116 pose_vec.saveYAML(output_filename, pose_vec);
117 }
118 else {
119 std::cout << std::endl << "** Hand-eye calibration failed" << std::endl;
120 std::cout << std::endl << "Check your input data and ensure they are covering the half sphere over the chessboard." << std::endl;
121 std::cout << std::endl << "See https://visp-doc.inria.fr/doxygen/visp-daily/tutorial-calibration-extrinsic.html" << std::endl;
122 }
123
124 return EXIT_SUCCESS;
125}
126
static bool loadYAML(const std::string &filename, vpArray2D< Type > &A, char *header=NULL)
Definition: vpArray2D.h:652
static int calibrate(const std::vector< vpHomogeneousMatrix > &cMo, const std::vector< vpHomogeneousMatrix > &rMe, vpHomogeneousMatrix &eMc)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpRotationMatrix getRotationMatrix() const
void save(std::ofstream &f) const
static long getIndex(const std::string &filename, const std::string &format)
Definition: vpIoTools.cpp:1573
static std::vector< std::string > getDirFiles(const std::string &dirname)
Definition: vpIoTools.cpp:1929
static double deg(double rad)
Definition: vpMath.h:103
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
vpRowVector t() const
Implementation of a rotation vector as quaternion angle minimal representation.
Implementation of a rotation vector as axis-angle minimal representation.