handeye_solver_base.h

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/* Author: Yu Yan */
 
#pragma once
 
#include <tf2_eigen/tf2_eigen.h>
#include <ros/console.h>
 
namespace moveit_handeye_calibration
{
enum SensorMountType
{
  EYE_TO_HAND = 0,
  EYE_IN_HAND = 1,
};
 
class HandEyeSolverBase
{
public:
  HandEyeSolverBase() = default;
  virtual ~HandEyeSolverBase() = default;
 
  virtual void initialize() = 0;
 
  virtual const std::vector<std::string>& getSolverNames() const = 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;
 
  virtual const Eigen::Isometry3d& getCameraRobotPose() const = 0;
 
  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)
  {
    auto ret = std::make_pair(std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN());
    if (effector_wrt_world.size() != object_wrt_sensor.size())
    {
      ROS_ERROR_NAMED("moveit_calibration_handeye_solver",
                      "Different number of optical and kinematic transforms when calculating reprojection error.");
      return ret;
    }
 
    if (effector_wrt_world.empty())
    {
      return ret;
    }
 
    double rotation_err = 0;
    double translation_err = 0;
 
    const size_t num_motions = effector_wrt_world.size() - 1;
    for (size_t i = 0; i < num_motions; ++i)
    {
      // Calculate both sides of AX = XB
      Eigen::Isometry3d A;
      if (setup == EYE_IN_HAND)
        A = effector_wrt_world[i].inverse() * effector_wrt_world[i + 1];
      else
        A = effector_wrt_world[i] * effector_wrt_world[i + 1].inverse();
      Eigen::Isometry3d B = object_wrt_sensor[i] * object_wrt_sensor[i + 1].inverse();
 
      Eigen::Isometry3d AX = A * X;
      Eigen::Isometry3d XB = X * B;
 
      // Rotation error
      double r_err = Eigen::AngleAxisd(AX.rotation().transpose() * XB.rotation()).angle();
      rotation_err += r_err * r_err;
 
      // Translation error
      double t_err = ((AX.translation() - XB.translation()).norm() +
                      (AX.inverse().translation() - XB.inverse().translation()).norm()) /
                     2.;
      translation_err += t_err * t_err;
    }
    ret = std::make_pair(std::sqrt(rotation_err / num_motions), std::sqrt(translation_err / num_motions));
    return ret;
  }
};
 
}  // namespace moveit_handeye_calibration