Provides an interface for handeye calibration target detectors. A target used for handeye calibration is usually a 2D board that consists of an array of markers. The markers can be circles, rectangles or their combinations. More...

#include <handeye_target_base.h>

Inheritance diagram for moveit_handeye_calibration::HandEyeTargetBase:

[legend]

Classes
class	Parameter

Public Member Functions
virtual bool	areIntrinsicsReasonable ()
	Check that camera intrinsic parameters are reasonable. More...

geometry_msgs::Quaternion	convertToQuaternionROSMsg (const cv::Vec3d &input_rvect) const

geometry_msgs::Vector3	convertToVectorROSMsg (const cv::Vec3d &input_tvect) const

virtual bool	createTargetImage (cv::Mat &image) const =0
	Create an target image, so that the target can be viewed and printed. More...

virtual bool	detectTargetPose (cv::Mat &image)=0
	Given an image containing a target captured from a camera view point, get the target pose with respect to the camera optical frame. Target parameters and camera intrinsic parameters should be correctly set before calling this function. More...

void	drawAxis (cv::InputOutputArray _image, cv::InputArray _cameraMatrix, cv::InputArray _distCoeffs, cv::InputArray _rvec, cv::InputArray _tvec, float length) const

virtual bool	getParameter (std::string name, double &value) const
	Get target parameter double value. More...

virtual bool	getParameter (std::string name, float &value) const
	Get target parameter float value. More...

virtual bool	getParameter (std::string name, int &value) const
	Get target parameter integer value. More...

virtual bool	getParameter (std::string name, std::string &value) const
	Get target parameter enum option, as string representation. More...

virtual std::vector< Parameter >	getParameters ()
	Get parameters relevant to this target. More...

virtual geometry_msgs::TransformStamped	getTransformStamped (const std::string &frame_id) const
	Get `TransformStamped` message from the target detection result, use for TF publish. More...

	HandEyeTargetBase ()

virtual bool	initialize ()=0
	Initialize handeye target. Call after setting the parameters. More...

virtual bool	setCameraIntrinsicParams (const sensor_msgs::CameraInfoConstPtr &msg)
	Set camera intrinsic parameters, e.g. camera intrinsic matrix and distortion coefficients. More...

virtual bool	setParameter (std::string name, double value)
	Set target parameter to double value. More...

virtual bool	setParameter (std::string name, float value)
	Set target parameter to float value. More...

virtual bool	setParameter (std::string name, int value)
	Set target parameter to integer value. More...

virtual bool	setParameter (std::string name, std::string value)
	Set target enum parameter to option specified by string. More...

virtual	~HandEyeTargetBase ()=default

Public Attributes
const std::map< std::string, std::size_t >	CAMERA_DISTORTION_MODELS_VECTOR_DIMENSIONS

const std::size_t	CAMERA_MATRIX_HEIGHT = 3

const std::size_t	CAMERA_MATRIX_VECTOR_DIMENSION = 9

const std::size_t	CAMERA_MATRIX_WIDTH = 3

const std::string	LOGNAME = "handeye_target_base"

Protected Attributes
std::mutex	base_mutex_

cv::Mat	camera_matrix_

cv::Mat	distortion_coeffs_

std::vector< Parameter >	parameters_

cv::Vec3d	rotation_vect_

bool	target_params_ready_

cv::Vec3d	translation_vect_

Detailed Description

Provides an interface for handeye calibration target detectors. A target used for handeye calibration is usually a 2D board that consists of an array of markers. The markers can be circles, rectangles or their combinations.

Definition at line 90 of file handeye_target_base.h.

Constructor & Destructor Documentation

◆ ~HandEyeTargetBase()

virtual moveit_handeye_calibration::HandEyeTargetBase::~HandEyeTargetBase ( )

virtualdefault

◆ HandEyeTargetBase()

moveit_handeye_calibration::HandEyeTargetBase::HandEyeTargetBase ( )

inline

Definition at line 153 of file handeye_target_base.h.

Member Function Documentation

◆ areIntrinsicsReasonable()

virtual bool moveit_handeye_calibration::HandEyeTargetBase::areIntrinsicsReasonable ( )

inlinevirtual

Check that camera intrinsic parameters are reasonable.

Returns: True if intrinsics are reasonable (camera matrix is not all zeros and is not the identity).

Definition at line 304 of file handeye_target_base.h.

◆ convertToQuaternionROSMsg()

geometry_msgs::Quaternion moveit_handeye_calibration::HandEyeTargetBase::convertToQuaternionROSMsg ( const cv::Vec3d & input_rvect ) const

inline

Definition at line 200 of file handeye_target_base.h.

◆ convertToVectorROSMsg()

geometry_msgs::Vector3 moveit_handeye_calibration::HandEyeTargetBase::convertToVectorROSMsg ( const cv::Vec3d & input_tvect ) const

inline

Definition at line 211 of file handeye_target_base.h.

◆ createTargetImage()

virtual bool moveit_handeye_calibration::HandEyeTargetBase::createTargetImage ( cv::Mat & image ) const

pure virtual

Create an target image, so that the target can be viewed and printed.

Parameters

image Use for storing the created image.

Returns: True if no errors happen, false otherwise.

Implemented in moveit_handeye_calibration::HandEyeArucoTarget, and moveit_handeye_calibration::HandEyeCharucoTarget.

◆ detectTargetPose()

virtual bool moveit_handeye_calibration::HandEyeTargetBase::detectTargetPose ( cv::Mat & image )

pure virtual

Given an image containing a target captured from a camera view point, get the target pose with respect to the camera optical frame. Target parameters and camera intrinsic parameters should be correctly set before calling this function.

Parameters

image Input image, assume a grayscale image.

Returns: True if no errors happen, false otherwise.

Implemented in moveit_handeye_calibration::HandEyeArucoTarget, and moveit_handeye_calibration::HandEyeCharucoTarget.

◆ drawAxis()

void moveit_handeye_calibration::HandEyeTargetBase::drawAxis	(	cv::InputOutputArray	_image,
		cv::InputArray	_cameraMatrix,
		cv::InputArray	_distCoeffs,
		cv::InputArray	_rvec,
		cv::InputArray	_tvec,
		float	length
	)		const

inline

Definition at line 221 of file handeye_target_base.h.

◆ getParameter() [1/4]

virtual bool moveit_handeye_calibration::HandEyeTargetBase::getParameter	(	std::string	name,
		double &	value
	)		const

inlinevirtual

Get target parameter double value.

Returns: True if successful getting parameter

Definition at line 428 of file handeye_target_base.h.

◆ getParameter() [2/4]

virtual bool moveit_handeye_calibration::HandEyeTargetBase::getParameter	(	std::string	name,
		float &	value
	)		const

inlinevirtual

Get target parameter float value.

Returns: True if successful getting parameter

Definition at line 411 of file handeye_target_base.h.

◆ getParameter() [3/4]

virtual bool moveit_handeye_calibration::HandEyeTargetBase::getParameter	(	std::string	name,
		int &	value
	)		const

inlinevirtual

Get target parameter integer value.

Returns: True if successful getting parameter

Definition at line 394 of file handeye_target_base.h.

◆ getParameter() [4/4]

virtual bool moveit_handeye_calibration::HandEyeTargetBase::getParameter	(	std::string	name,
		std::string &	value
	)		const

inlinevirtual

Get target parameter enum option, as string representation.

Returns: True if successful getting parameter

Definition at line 445 of file handeye_target_base.h.

◆ getParameters()

virtual std::vector<Parameter> moveit_handeye_calibration::HandEyeTargetBase::getParameters ( )

inlinevirtual

Get parameters relevant to this target.

Returns: List of parameter objects

Definition at line 313 of file handeye_target_base.h.

◆ getTransformStamped()

virtual geometry_msgs::TransformStamped moveit_handeye_calibration::HandEyeTargetBase::getTransformStamped ( const std::string & frame_id ) const

inlinevirtual

Get TransformStamped message from the target detection result, use for TF publish.

Parameters

frame_id The name of the frame this transform is with respect to.

Returns: A TransformStamped message.

Definition at line 186 of file handeye_target_base.h.

◆ initialize()

virtual bool moveit_handeye_calibration::HandEyeTargetBase::initialize ( )

pure virtual

Initialize handeye target. Call after setting the parameters.

Returns: True if initialization was successful, false otherwise.

Implemented in moveit_handeye_calibration::HandEyeArucoTarget, and moveit_handeye_calibration::HandEyeCharucoTarget.

◆ setCameraIntrinsicParams()

virtual bool moveit_handeye_calibration::HandEyeTargetBase::setCameraIntrinsicParams ( const sensor_msgs::CameraInfoConstPtr & msg )

inlinevirtual

Set camera intrinsic parameters, e.g. camera intrinsic matrix and distortion coefficients.

Parameters

msg	Input camera info message.

Returns: True if the input camera info format is correct, false otherwise.

Definition at line 247 of file handeye_target_base.h.

◆ setParameter() [1/4]

virtual bool moveit_handeye_calibration::HandEyeTargetBase::setParameter	(	std::string	name,
		double	value
	)

inlinevirtual

Set target parameter to double value.

Returns: True if successful setting parameter

Definition at line 356 of file handeye_target_base.h.

◆ setParameter() [2/4]

virtual bool moveit_handeye_calibration::HandEyeTargetBase::setParameter	(	std::string	name,
		float	value
	)

inlinevirtual

Set target parameter to float value.

Returns: True if successful setting parameter

Definition at line 339 of file handeye_target_base.h.

◆ setParameter() [3/4]

virtual bool moveit_handeye_calibration::HandEyeTargetBase::setParameter	(	std::string	name,
		int	value
	)

inlinevirtual

Set target parameter to integer value.

Returns: True if successful setting parameter

Definition at line 322 of file handeye_target_base.h.

◆ setParameter() [4/4]

virtual bool moveit_handeye_calibration::HandEyeTargetBase::setParameter	(	std::string	name,
		std::string	value
	)

inlinevirtual

Set target enum parameter to option specified by string.

Returns: True if successful setting parameter

Definition at line 373 of file handeye_target_base.h.

Member Data Documentation

◆ base_mutex_

std::mutex moveit_handeye_calibration::HandEyeTargetBase::base_mutex_

protected

Definition at line 479 of file handeye_target_base.h.

◆ CAMERA_DISTORTION_MODELS_VECTOR_DIMENSIONS

const std::map<std::string, std::size_t> moveit_handeye_calibration::HandEyeTargetBase::CAMERA_DISTORTION_MODELS_VECTOR_DIMENSIONS

Initial value:

= { { "none", 0 },
                                                                                          { "plumb_bob", 5 },
                                                                                          { "rational_polynomial", 8 } }

Definition at line 148 of file handeye_target_base.h.

◆ camera_matrix_

cv::Mat moveit_handeye_calibration::HandEyeTargetBase::camera_matrix_

protected

Definition at line 463 of file handeye_target_base.h.

◆ CAMERA_MATRIX_HEIGHT

const std::size_t moveit_handeye_calibration::HandEyeTargetBase::CAMERA_MATRIX_HEIGHT = 3

Definition at line 147 of file handeye_target_base.h.

◆ CAMERA_MATRIX_VECTOR_DIMENSION

const std::size_t moveit_handeye_calibration::HandEyeTargetBase::CAMERA_MATRIX_VECTOR_DIMENSION = 9

Definition at line 145 of file handeye_target_base.h.

◆ CAMERA_MATRIX_WIDTH

const std::size_t moveit_handeye_calibration::HandEyeTargetBase::CAMERA_MATRIX_WIDTH = 3

Definition at line 146 of file handeye_target_base.h.

◆ distortion_coeffs_

cv::Mat moveit_handeye_calibration::HandEyeTargetBase::distortion_coeffs_

protected

Definition at line 467 of file handeye_target_base.h.

◆ LOGNAME

const std::string moveit_handeye_calibration::HandEyeTargetBase::LOGNAME = "handeye_target_base"

Definition at line 144 of file handeye_target_base.h.

◆ parameters_

std::vector<Parameter> moveit_handeye_calibration::HandEyeTargetBase::parameters_

protected

Definition at line 473 of file handeye_target_base.h.

◆ rotation_vect_

cv::Vec3d moveit_handeye_calibration::HandEyeTargetBase::rotation_vect_

protected

Definition at line 477 of file handeye_target_base.h.

◆ target_params_ready_

bool moveit_handeye_calibration::HandEyeTargetBase::target_params_ready_

protected

Definition at line 470 of file handeye_target_base.h.

◆ translation_vect_

cv::Vec3d moveit_handeye_calibration::HandEyeTargetBase::translation_vect_

protected

Definition at line 476 of file handeye_target_base.h.

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

handeye_target_base.h

Classes

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ~HandEyeTargetBase()

◆ HandEyeTargetBase()

Member Function Documentation

◆ areIntrinsicsReasonable()

◆ convertToQuaternionROSMsg()

◆ convertToVectorROSMsg()

◆ createTargetImage()

◆ detectTargetPose()

◆ drawAxis()

◆ getParameter() [1/4]

◆ getParameter() [2/4]

◆ getParameter() [3/4]

◆ getParameter() [4/4]

◆ getParameters()

◆ getTransformStamped()

◆ initialize()

◆ setCameraIntrinsicParams()

◆ setParameter() [1/4]

◆ setParameter() [2/4]

◆ setParameter() [3/4]

◆ setParameter() [4/4]

Member Data Documentation

◆ base_mutex_

◆ CAMERA_DISTORTION_MODELS_VECTOR_DIMENSIONS

◆ camera_matrix_

◆ CAMERA_MATRIX_HEIGHT

◆ CAMERA_MATRIX_VECTOR_DIMENSION

◆ CAMERA_MATRIX_WIDTH

◆ distortion_coeffs_

◆ LOGNAME

◆ parameters_

◆ rotation_vect_

◆ target_params_ready_

◆ translation_vect_