1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Hand-eye calibration.
33  *
34  * Authors:
35  * Francois Chaumette
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
40 /*!
41   \file vpHandEyeCalibration.h
42   \brief Tools for hand-eye calibration.
43 
44   \sa The example in calibrate-hand-eye.cpp
45 */
46 #ifndef _vpHandEyeCalibration_h_
47 #define _vpHandEyeCalibration_h_
48 
49 #include <vector>
50 #include <visp3/core/vpExponentialMap.h>
51 #include <visp3/core/vpHomogeneousMatrix.h>
52 #include <visp3/core/vpMath.h>
53 #include <visp3/core/vpMatrix.h>
54 
55 /*!
56   \class vpHandEyeCalibration
57 
58   \ingroup group_vision_calib
59 
60   \brief Tool for hand-eye calibration.
61 
62 */
63 class VISP_EXPORT vpHandEyeCalibration
64 {
65 public:
66 
67   static int calibrate(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
68                        vpHomogeneousMatrix &eMc);
69 
70 private:
71   static void calibrationVerifrMo(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
72                                   const vpHomogeneousMatrix &eMc);
73   static int calibrationRotationTsai(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
74                                      vpRotationMatrix &eRc);
75   static int calibrationRotationTsaiOld(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
76                                         vpRotationMatrix &eRc);
77   static int calibrationRotationProcrustes(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
78                                            vpRotationMatrix &eRc);
79   static int calibrationTranslation(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
80                                     vpRotationMatrix &eRc, vpTranslationVector &eTc);
81   static int calibrationTranslationOld(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
82                                        vpRotationMatrix &eRc, vpTranslationVector &eTc);
83   static double calibrationErrVVS(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
84                                   const vpHomogeneousMatrix &eMc, vpColVector &errVVS);
85   static int calibrationVVS(const std::vector<vpHomogeneousMatrix> &cMo, const std::vector<vpHomogeneousMatrix> &rMe,
86                             vpHomogeneousMatrix &eMc);
87 };
88 
89 #endif
90