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FIL.CalibrateEyeInHand

Computes Hand-Eye calibration matrices.

Namespace:FilNet
Assembly:FIL.NET.dll

Syntax

C++
C#
 
public static void CalibrateEyeInHand
(
	IList<FilNet.Matrix> inRotationGripperToBase,
	IList<FilNet.Matrix> inTranslationGripperToBase,
	IList<FilNet.Matrix> inRotationTargetToCam,
	IList<FilNet.Matrix> inTranslationTargetToCam,
	FilNet.HandEyeCalibrationMethod inCalibrationMethod,
	FilNet.Matrix outRotationCamToGripper,
	FilNet.Matrix outTranslationCamToGripper
)

Parameters

Name Type Range Default Description
inRotationGripperToBaseSystem.Collections.Generic.IList<FilNet.Matrix>Rotation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the robot base frame.
inTranslationGripperToBaseSystem.Collections.Generic.IList<FilNet.Matrix>Translation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the robot base frame.
inRotationTargetToCamSystem.Collections.Generic.IList<FilNet.Matrix>Rotation part extracted from the homogeneous matrix that transforms a point expressed in the target frame to the camera frame.
inTranslationTargetToCamSystem.Collections.Generic.IList<FilNet.Matrix>Translation part extracted from the homogeneous matrix that transforms a point expressed in the target frame to the camera frame.
inCalibrationMethodFilNet.HandEyeCalibrationMethodCalibration method.
outRotationCamToGripperFilNet.MatrixEstimated rotation part extracted from the homogeneous matrix that transforms a point expressed in the camera frame to the gripper frame.
outTranslationCamToGripperFilNet.MatrixEstimated translation part extracted from the homogeneous matrix that transforms a point expressed in the camera frame to the gripper frame.

Errors

List of possible exceptions:

Error type Description
DomainError All of the arrays should have the same number of measurements.
DomainError At least 3 measurements are needed.

See also