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CalibrateEyeInHand


Header: FIL.h
Namespace: fil
Module: Calibration

Computes Hand-Eye calibration matrices.

Syntax

C++
C#
 
void fil::CalibrateEyeInHand
(
	const ftl::Array<fil::Matrix>& inRotationGripperToBase,
	const ftl::Array<fil::Matrix>& inTranslationGripperToBase,
	const ftl::Array<fil::Matrix>& inRotationTargetToCam,
	const ftl::Array<fil::Matrix>& inTranslationTargetToCam,
	const fil::HandEyeCalibrationMethod::Type inCalibrationMethod,
	fil::Matrix& outRotationCamToGripper,
	fil::Matrix& outTranslationCamToGripper
)

Parameters

Name Type Default Description
Input value inRotationGripperToBase const Array<Matrix>& Rotation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the robot base frame.
Input value inTranslationGripperToBase const Array<Matrix>& Translation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the robot base frame.
Input value inRotationTargetToCam const Array<Matrix>& Rotation part extracted from the homogeneous matrix that transforms a point expressed in the target frame to the camera frame.
Input value inTranslationTargetToCam const Array<Matrix>& Translation part extracted from the homogeneous matrix that transforms a point expressed in the target frame to the camera frame
Input value inCalibrationMethod const HandEyeCalibrationMethod::Type Calibration method.
Output value outRotationCamToGripper Matrix& Estimated rotation part extracted from the homogeneous matrix that transforms a point expressed in the camera frame to the gripper frame.
Output value outTranslationCamToGripper Matrix& Estimated 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.