The calibration result containing the computed pose and reprojection errors for all the input poses More...

#include <Zivid/HandEye/Calibrate.h>

Public Member Functions
ZIVID_API_EXPORT	CalibrationOutput (const Matrix4d &handEyeTransform, const std::vector< CalibrationResidual > &perPoseCalibrationResiduals)
	Constructs a CalibrationOutput instance. More...

ZIVID_API_EXPORT bool	valid () const
	Test if CalibrationOutput is valid. More...

ZIVID_API_EXPORT	operator bool () const
	Test if CalibrationOutput is valid. More...

const ZIVID_API_EXPORT Matrix4d &	handEyeTransform () const
	Hand-eye transform. More...

const ZIVID_API_EXPORT std::vector< CalibrationResidual > &	perPoseCalibrationResiduals () const
	Calibration residuals. More...

ZIVID_API_EXPORT std::string	toString () const
	Get string representation of the calibration output More...

Detailed Description

The calibration result containing the computed pose and reprojection errors for all the input poses

Constructor & Destructor Documentation

◆ CalibrationOutput()

ZIVID_API_EXPORT Zivid::HandEye::CalibrationOutput::CalibrationOutput	(	const Matrix4d &	handEyeTransform,
		const std::vector< CalibrationResidual > &	perPoseCalibrationResiduals
	)

Constructs a CalibrationOutput instance.

Parameters

handEyeTransform	Computed hand-eye calibration transform.
perPoseCalibrationResiduals	Per pose calibration residuals.

Member Function Documentation

◆ handEyeTransform()

const ZIVID_API_EXPORT Matrix4d& Zivid::HandEye::CalibrationOutput::handEyeTransform ( ) const

Hand-eye transform.

A 4x4 matrix describing hand-eye calibration transform (either eye-in-hand or eye-to-hand). An exception is thrown if the result is not valid.

Returns: Pose instance.

◆ operator bool()

ZIVID_API_EXPORT Zivid::HandEye::CalibrationOutput::operator bool ( ) const

explicit

Test if CalibrationOutput is valid.

Returns: True if CalibrationOutput is valid.

◆ perPoseCalibrationResiduals()

const ZIVID_API_EXPORT std::vector<CalibrationResidual>& Zivid::HandEye::CalibrationOutput::perPoseCalibrationResiduals ( ) const

Calibration residuals.

Feature points (for each input pose) are transformed into a common frame. A rigid transform between feature points and corresponding centroids are utilized to compute residuals for rotational and translational parts. An exception is thrown if the result is not valid.

Returns: Vector of calibration residuals.

◆ toString()

ZIVID_API_EXPORT std::string Zivid::HandEye::CalibrationOutput::toString ( ) const

Get string representation of the calibration output

Returns: Calibration output as string

◆ valid()

ZIVID_API_EXPORT bool Zivid::HandEye::CalibrationOutput::valid ( ) const