Zivid C++ API  1.8.1+6967bc1b-1
Defining the Future of 3D Machine Vision
Classes | Functions
Zivid::HandEye Namespace Reference

Classes

class  CalibrationInput
 Binds together a robot pose and the detection result acquired from the pose More...
 
class  CalibrationOutput
 The calibration result containing the computed pose and reprojection errors for all the input poses More...
 
class  CalibrationResidual
 Binds together rotational and translational residual errors wrt. calibration transform More...
 
class  DetectionResult
 A result returned by the detectFeaturePoints(...) call More...
 
class  Pose
 Describes a robot pose More...
 

Functions

ZIVID_API_EXPORT std::ostream & operator<< (std::ostream &stream, const CalibrationResidual &calibrationResidual)
 Serialize the value to a stream More...
 
ZIVID_API_EXPORT std::ostream & operator<< (std::ostream &stream, const CalibrationInput &calibrationInput)
 Serialize the value to a stream More...
 
ZIVID_API_EXPORT std::ostream & operator<< (std::ostream &stream, const CalibrationOutput &calibrationOutput)
 Serialize the value to a stream More...
 
ZIVID_API_EXPORT CalibrationOutput calibrateEyeInHand (const std::vector< CalibrationInput > &input)
 Performs eye-in-hand calibration. More...
 
ZIVID_API_EXPORT CalibrationOutput calibrateEyeToHand (const std::vector< CalibrationInput > &input)
 Performs eye-to-hand calibration. More...
 
ZIVID_API_EXPORT DetectionResult detectFeaturePoints (const PointCloud &cloud)
 Detects feature points from a calibration object in a point cloud. More...
 
ZIVID_API_EXPORT std::ostream & operator<< (std::ostream &stream, const DetectionResult &result)
 Serialize the value to a stream More...
 
ZIVID_API_EXPORT std::ostream & operator<< (std::ostream &stream, const Pose &pose)
 Serialize the value to a stream More...
 

Function Documentation

◆ calibrateEyeInHand()

ZIVID_API_EXPORT CalibrationOutput Zivid::HandEye::calibrateEyeInHand ( const std::vector< CalibrationInput > &  input)

Performs eye-in-hand calibration.

The procedure requires feature point sets acquired at the minimum from two poses. All the input poses have to be different. The feature point sets cannot be empty. All the feature point sets have to have same number of feature points. An exception will be thrown if the above requirements are not fulfilled.

Parameters
inputVector of CalibrationInput instances.
Returns
Instance of CalibrationOutput.

◆ calibrateEyeToHand()

ZIVID_API_EXPORT CalibrationOutput Zivid::HandEye::calibrateEyeToHand ( const std::vector< CalibrationInput > &  input)

Performs eye-to-hand calibration.

The procedure requires feature point sets acquired at the minimum from two poses. All the input poses have to be different. The feature point sets cannot be empty. All the feature points have to have same number of elements. An exception will be thrown if the above requirements are not fulfilled.

Parameters
inputVector of CalibrationInput instances.
Returns
Instance of CalibrationOutput.

◆ detectFeaturePoints()

ZIVID_API_EXPORT DetectionResult Zivid::HandEye::detectFeaturePoints ( const PointCloud cloud)

Detects feature points from a calibration object in a point cloud.

The functionality is to be exclusively used in combination with Zivid verified checkerboards. For further information please visit Zivid help page.

Parameters
cloudPoint cloud from a frame containing an image of a calibration object

◆ operator<<() [1/5]

ZIVID_API_EXPORT std::ostream& Zivid::HandEye::operator<< ( std::ostream &  stream,
const CalibrationInput calibrationInput 
)

Serialize the value to a stream

◆ operator<<() [2/5]

ZIVID_API_EXPORT std::ostream& Zivid::HandEye::operator<< ( std::ostream &  stream,
const CalibrationOutput calibrationOutput 
)

Serialize the value to a stream

◆ operator<<() [3/5]

ZIVID_API_EXPORT std::ostream& Zivid::HandEye::operator<< ( std::ostream &  stream,
const CalibrationResidual calibrationResidual 
)

Serialize the value to a stream

◆ operator<<() [4/5]

ZIVID_API_EXPORT std::ostream& Zivid::HandEye::operator<< ( std::ostream &  stream,
const DetectionResult result 
)

Serialize the value to a stream

◆ operator<<() [5/5]

ZIVID_API_EXPORT std::ostream& Zivid::HandEye::operator<< ( std::ostream &  stream,
const Pose pose 
)

Serialize the value to a stream