Calibrate.h

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/*******************************************************************************
 * This file is part of the Zivid 3D Camera API
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#pragma once
 
#include "Zivid/APIExport.h"
#include "Zivid/HandEye/Detector.h"
#include "Zivid/HandEye/Pose.h"
 
#include <Zivid/Matrix.h>
#include <Zivid/Vector.h>
 
#include <vector>
 
namespace Zivid
{
    namespace HandEye
    {
        class CalibrationResidual
        {
        public:
            ZIVID_API_EXPORT CalibrationResidual(double rotation, double translation);
 
            ZIVID_API_EXPORT double rotation() const;
 
            ZIVID_API_EXPORT double translation() const;
 
            ZIVID_API_EXPORT std::string toString() const;
 
        private:
            double m_rotation;
            double m_translation;
        };
 
        ZIVID_API_EXPORT std::ostream &operator<<(std::ostream &stream, const CalibrationResidual &calibrationResidual);
 
        class CalibrationInput
        {
        public:
            ZIVID_API_EXPORT CalibrationInput(const Pose &robotPose, const DetectionResult &detectionResult);
 
            ZIVID_API_EXPORT const Pose &robotPose() const;
 
            ZIVID_API_EXPORT const DetectionResult &detectionResult() const;
 
            ZIVID_API_EXPORT std::string toString() const;
 
        private:
            Pose m_robotPose;
            DetectionResult m_result;
        };
 
        ZIVID_API_EXPORT std::ostream &operator<<(std::ostream &stream, const CalibrationInput &calibrationInput);
 
        class CalibrationOutput
        {
        public:
            ZIVID_API_EXPORT CalibrationOutput(const Matrix4d &handEyeTransform,
                                               const std::vector<CalibrationResidual> &perPoseCalibrationResiduals);
 
            ZIVID_API_EXPORT bool valid() const;
 
            ZIVID_API_EXPORT explicit operator bool() const;
 
            ZIVID_API_EXPORT const Matrix4d &handEyeTransform() const;
 
            ZIVID_API_EXPORT const std::vector<CalibrationResidual> &perPoseCalibrationResiduals() const;
 
            ZIVID_API_EXPORT std::string toString() const;
 
        private:
            Matrix4d m_handEyeTransform;
            std::vector<CalibrationResidual> m_perPoseCalibrationResiduals;
        };
 
        ZIVID_API_EXPORT std::ostream &operator<<(std::ostream &stream, const CalibrationOutput &calibrationOutput);
 
        ZIVID_API_EXPORT CalibrationOutput calibrateEyeInHand(const std::vector<CalibrationInput> &input);
 
        ZIVID_API_EXPORT CalibrationOutput calibrateEyeToHand(const std::vector<CalibrationInput> &input);
 
    } // namespace HandEye
} // namespace Zivid