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CalibrateEyeInHand
Header: | AVL.h |
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Namespace: | avl |
Module: | Calibration |
Computes Hand-Eye calibration matrices.
Syntax
C++
C#
void avl::CalibrateEyeInHand ( const atl::Array<avl::Matrix>& inRotationGripperToBase, const atl::Array<avl::Matrix>& inTranslationGripperToBase, const atl::Array<avl::Matrix>& inRotationTargetToCam, const atl::Array<avl::Matrix>& inTranslationTargetToCam, const avl::HandEyeCalibrationMethod::Type inCalibrationMethod, avl::Matrix& outRotationCamToGripper, avl::Matrix& outTranslationCamToGripper )
Parameters
Name | Type | Default | Description | |
---|---|---|---|---|
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. | ||
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. | ||
inRotationTargetToCam | const Array<Matrix>& | Rotation part extracted from the homogeneous matrix that transforms a point expressed in the target frame to the camera frame. | ||
inTranslationTargetToCam | const Array<Matrix>& | Translation part extracted from the homogeneous matrix that transforms a point expressed in the target frame to the camera frame | ||
inCalibrationMethod | const HandEyeCalibrationMethod::Type | Calibration method. | ||
outRotationCamToGripper | Matrix& | Estimated rotation part extracted from the homogeneous matrix that transforms a point expressed in the camera frame to the gripper frame. | ||
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 |
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DomainError | All of the arrays should have the same number of measurements. |
DomainError | At least 3 measurements are needed. |