moveit_handeye_calibration::HandEyeSolverBase Class Reference

#include <handeye_solver_base.h>

Inheritance diagram for moveit_handeye_calibration::HandEyeSolverBase:

Public Member Functions
virtual const Eigen::Isometry3d &	getCameraRobotPose () const =0
	Get the result of the calibration, i.e. the camera pose with respect to the robot. More...
std::pair< double, double >	getReprojectionError (const std::vector< Eigen::Isometry3d > &effector_wrt_world, const std::vector< Eigen::Isometry3d > &object_wrt_sensor, const Eigen::Isometry3d &X, SensorMountType setup=EYE_TO_HAND)
	Get the reprojection error for the given samples. More...
virtual const std::vector< std::string > &	getSolverNames () const =0
	Get the names of available algorithms that can be used from the plugin. More...
	HandEyeSolverBase ()=default
virtual void	initialize ()=0
virtual bool	solve (const std::vector< Eigen::Isometry3d > &effector_wrt_world, const std::vector< Eigen::Isometry3d > &object_wrt_sensor, SensorMountType setup=EYE_TO_HAND, const std::string &solver_name="", std::string *error_message=nullptr)=0
	Calculate camera-robot transform from the input pose samples. More...
virtual	~HandEyeSolverBase ()=default

Detailed Description

Definition at line 82 of file handeye_solver_base.h.

Constructor & Destructor Documentation

HandEyeSolverBase()

moveit_handeye_calibration::HandEyeSolverBase::HandEyeSolverBase ( )

default

~HandEyeSolverBase()

virtual moveit_handeye_calibration::HandEyeSolverBase::~HandEyeSolverBase ( )

virtualdefault

Member Function Documentation

getCameraRobotPose()

virtual const Eigen::Isometry3d& moveit_handeye_calibration::HandEyeSolverBase::getCameraRobotPose ( ) const

pure virtual

Get the result of the calibration, i.e. the camera pose with respect to the robot.

Returns

A 4X4 transform indicating the pose.

Implemented in moveit_handeye_calibration::HandEyeSolverDefault.

getReprojectionError()

std::pair<double, double> moveit_handeye_calibration::HandEyeSolverBase::getReprojectionError ( const std::vector< Eigen::Isometry3d > &  effector_wrt_world, const std::vector< Eigen::Isometry3d > &  object_wrt_sensor, const Eigen::Isometry3d &  X, SensorMountType  setup = EYE_TO_HAND  )

inline

Get the reprojection error for the given samples.

Parameters

effector_wrt_world	End-effector pose (4X4 transform) with respect to the world (or robot base).
object_wrt_sensor	Object (calibration board) pose (4X4 transform) with respect to the camera.
X	The calibration, as a 4X4 transform.
setup	Camera mount type, {EYE_TO_HAND, EYE_IN_HAND}.

Returns

Pair of translation and rotation reprojection error in meters and radians, or NaNs on error.

Definition at line 129 of file handeye_solver_base.h.

getSolverNames()

virtual const std::vector<std::string>& moveit_handeye_calibration::HandEyeSolverBase::getSolverNames ( ) const

pure virtual

Get the names of available algorithms that can be used from the plugin.

Returns

A vector storing the names.

Implemented in moveit_handeye_calibration::HandEyeSolverDefault.

initialize()

virtual void moveit_handeye_calibration::HandEyeSolverBase::initialize ( )

pure virtual

Implemented in moveit_handeye_calibration::HandEyeSolverDefault.

solve()

virtual bool moveit_handeye_calibration::HandEyeSolverBase::solve ( const std::vector< Eigen::Isometry3d > &  effector_wrt_world, const std::vector< Eigen::Isometry3d > &  object_wrt_sensor, SensorMountType  setup = EYE_TO_HAND, const std::string &  solver_name = "", std::string *  error_message = nullptr  )

pure virtual

Calculate camera-robot transform from the input pose samples.

Parameters

	effector_wrt_world	End-effector pose (4X4 transform) with respect to the world (or robot base).
	object_wrt_sensor	Object (calibration board) pose (4X4 transform) with respect to the camera.
	setup	Camera mount type, {EYE_TO_HAND, EYE_IN_HAND}.
	solver_name	The algorithm used in the calculation.
[out]	error_message	Description of error, if solver fails

Returns

If the calculation succeeds, return true. Otherwise, return false.

Implemented in moveit_handeye_calibration::HandEyeSolverDefault.

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The documentation for this class was generated from the following file:

• handeye_solver_base.h