116 lines
4.1 KiB
C
116 lines
4.1 KiB
C
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#pragma once
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#include <cmath>
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#include "Camera.h"
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#include "CameraProperties.h"
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namespace mmind {
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namespace eye {
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class MMIND_API_EXPORT HandEyeCalibration
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{
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public:
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/**
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* @details Only takes effect in process of hand-eye calibration. Option for camera mounting
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* mode.
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*/
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enum struct CameraMountingMode {
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EyeInHand, ///< The camera is mounted in the robot's hand.
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EyeToHand, ///< The camera is fixed mounted with respect to the robot's base.
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};
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/**
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* @details Only takes effect in process of hand-eye calibration. Option for board model.
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*/
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enum struct CalibrationBoardModel {
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BDB_5,
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BDB_6,
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BDB_7,
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OCB_5,
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OCB_10,
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OCB_15,
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OCB_20,
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CGB_20,
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CGB_35,
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CGB_50,
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};
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/**
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* @brief Defines rigid body transformations, including translation vector and
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* quaternion vector.
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*/
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struct Transformation
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{
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Transformation() = default;
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Transformation(double x, double y, double z, double qW, double qX, double qY, double qZ)
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: x(x), y(y), z(z), qW(qW), qX(qX), qY(qY), qZ(qZ)
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{
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}
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std::string toString() const
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{
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char buff[256] = {0};
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snprintf(buff, sizeof(buff), "%lf,%lf,%lf,%lf,%lf,%lf,%lf", x, y, z, qW, qX, qY, qZ);
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return buff;
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}
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double x{}; // Translation 3*1 vector robot pose unit: mm; extrinsic unit: m.
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double y{};
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double z{};
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double qW{1}; // Quaternion 4*1 vector
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double qX{};
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double qY{};
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double qZ{};
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};
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/**
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* @brief Sets the board model and camera mounting mode for this calibration.
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* @param [in] camera The camera handle.
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* @param [in] mountingMode The camera mounting mode. See @ref CameraMountingMode for details.
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* @param [in] boardModel The calibration board model. See @ref CalibrationBoardModel for
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* details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus initializeCalibration(Camera& camera, CameraMountingMode mountingMode,
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CalibrationBoardModel boardModel);
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/**
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* @brief Adds current pose of the robot, captures the image, and calculates necessary
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* parameters prepared for calibration.
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* @param [in] camera The camera handle.
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* @param [in] poseData The current pose of the robot. See @ref Transformation for details.
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* @param [out] color2DImage The current 2D image with feature recognition result. See @ref
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* Color2DImage for details.
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* @param [in] timeoutMs The timeout for connecting a camera in ms unit. If the execution
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* time of the connecting process is greater than the timeout, the function will immediately
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* return @ref ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus addPoseAndDetect(Camera& camera, const Transformation& poseData,
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Color2DImage& color2DImage, unsigned int timeoutMs = 10000);
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/**
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* @brief Starts to calculate the result of hand-eye calibration.
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* @param [in] camera The camera handle.
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* @param [out] cameraToBase The result of hand-eye calibration. See @ref Transformation for
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* details.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus calculateExtrinsics(Camera& camera, Transformation& cameraToBase);
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/**
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* @brief Only captures current image with feature recognition result for test.
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* @param [in] camera The camera handle.
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* @param [out] testResult The current 2D image with feature recognition result. See @ref
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* Color2DImage for details.
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* @param [in] timeoutMs The timeout for connecting a camera in ms unit. If the execution
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* time of the connecting process is greater than the timeout, the function will immediately
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* return @ref ErrorStatus.MMIND_STATUS_TIMEOUT_ERROR.
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* @return See @ref ErrorStatus for details.
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*/
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ErrorStatus testRecognition(Camera& camera, Color2DImage& testResult,
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unsigned int timeoutMs = 10000);
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};
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} // namespace eye
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} // namespace mmind
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