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ImFusion SDK 4.3
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ImFusion SDK 4.3
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#include <RoboticsPlugin/Include/ImFusion/Robotics/Calibration/HandEyeCalibrationAlgorithm.h>
Specialized hand-eye calibration for robot-camera systems. More...
Inheritance diagram for HandEyeCalibrationAlgorithm:Specialized hand-eye calibration for robot-camera systems.
Extends LiveHandEyeCalibrationAlgorithm for specific case of calibrating between robot tracking stream and camera tracking stream.
Public Member Functions | |
| HandEyeCalibrationAlgorithm (RobotTrackingStream *robotStream, TrackingStream *trackingStream) | |
| Initialize calibration algorithm for robot-camera setup. | |
| Public Member Functions inherited from LiveHandEyeCalibrationAlgorithm | |
| LiveHandEyeCalibrationAlgorithm (TrackingStream *trackingStream1, TrackingStream *trackingStream2) | |
| bool | sample () |
| Adds the last recorded sample from the tracking streams to the tracking sequences. | |
| bool | removeSample (size_t i) |
| Removes the recorded sample at index i from both tracking sequences. | |
| bool | removeSamples (const std::vector< size_t > &indexesToRemove) |
| Removes the recorded samples at indexesToRemove from both tracking sequences. | |
| size_t | numberSamples () |
| Returns the number of recorded samples in the tracking sequences. | |
| const TrackingSequence & | trackingSamples1 () const |
| Returns the first tracking sequence with the recorded samples. | |
| const TrackingSequence & | trackingSamples2 () const |
| Returns the second tracking sequence with the recorded samples. | |
| void | setSamples (std::unique_ptr< TrackingSequence > trackingSamples1, std::unique_ptr< TrackingSequence > trackingSamples2) |
| Sets the recorded tracking sequences, replacing the current ones. | |
| void | setSamples (const std::vector< std::unique_ptr< TrackingSequence > > &trackingSamplesContainer) |
| Adds the provided tracking sequences to the recorded samples. | |
| void | compute () override |
| Runs the calibration algorithm on the recorded samples. | |
| std::optional< mat4 > | cameraToHand () |
| std::optional< mat4 > | baseToCamera () |
| Public Member Functions inherited from Algorithm | |
| Algorithm () | |
| Default constructor will registers a single "compute" action that calls compute() and returns status(). | |
| virtual OwningDataList | takeOutput () |
| Return any new Data that was created by the Algorithm during the last call to compute(). | |
| virtual void | setProgress (Progress *progress) |
| Sets a Progress interface the algorithm can use to notify observers about its computing progress. | |
| Progress * | progress () const |
| Returns the progress interface if set. | |
| virtual int | status () const |
| Indicates the status of the last call to compute(). | |
| virtual bool | survivesDataDeletion (const Data *) const |
| Indicates whether the algorithm can handle (partial) deletion of the specified data, by default this checks whether the data is in the input list. | |
| const FactoryInfo & | factoryInfo () const |
| Returns the record describing how this Algorithm was instantiated by the AlgorithmFactory. | |
| void | setFactoryInfo (const FactoryInfo &value) |
| Sets the record describing how this Algorithm was instantiated by the AlgorithmFactory. | |
| Status | runAction (const std::string &id) |
Run the action with name id if it exists. | |
| const std::vector< Action > & | actions () |
| Get a mapping from Action id to Action as registered in this algorithm. | |
| Public Member Functions inherited from Configurable | |
| virtual void | configure (const Properties *p) |
| Configure this object instance by de-serializing the given Properties. | |
| virtual void | configuration (Properties *p) const |
| Serialize the current object configuration into the given Properties object. | |
| virtual void | configureDefaults () |
| Retrieve the properties of this object, replaces values with their defaults and sets it again. | |
| void | registerParameter (ParameterBase *param) |
| Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration(). | |
| void | unregisterParameter (const ParameterBase *param) |
| Remove the given Parameter or SubProperty from the list of registered parameters. | |
| Configurable (const Configurable &rhs) | |
| Configurable (Configurable &&rhs) noexcept | |
| Configurable & | operator= (const Configurable &) |
| Configurable & | operator= (Configurable &&) noexcept |
| Public Member Functions inherited from SignalReceiver | |
| SignalReceiver ()=default | |
| Default constructor. | |
| SignalReceiver (const SignalReceiver &other) | |
| Copy constructor, does not copy any existing signal connections from other. | |
| SignalReceiver & | operator= (SignalReceiver rhs) |
| Assignment operator, disconnects all existing connections, does not copy any existing signal connections from rhs. | |
| virtual | ~SignalReceiver () |
| Virtual destructor disconnects from all connected signals. | |
Static Public Member Functions | |
| static bool | createCompatible (const DataList &data, Algorithm **a=nullptr) |
| Factory method for creating algorithm instance. | |
| Static Public Member Functions inherited from LiveHandEyeCalibrationAlgorithm | |
| static bool | createCompatible (const DataList &data, Algorithm **a=nullptr) |
| static std::optional< mat4 > | compute (HandEyeCalibrationAlgorithm::CalibrationType type, const TrackingSequence &trackingSamples1, const TrackingSequence &trackingSamples2, HandEyeCalibrationAlgorithm::StreamInfo si1, HandEyeCalibrationAlgorithm::StreamInfo si2) |
| Computes the calibration from the provided tracking sequences and stream information. | |
| Static Public Member Functions inherited from Algorithm | |
| static bool | createCompatible (const DataList &data, Algorithm **a=nullptr) |
| Factory function to check algorithm compatibility with input data and optionally instantiate it. | |
Additional Inherited Members | |
| Public Types inherited from Algorithm | |
| enum | Status { Unknown = -1 , Success = 0 , Error = 1 , InvalidInput , IncompleteInput , OutOfMemoryHost , OutOfMemoryGPU , UnsupportedGPU , UnknownAction , AbortedByUser , User = 1000 } |
| Status codes. More... | |
| Public Attributes inherited from LiveHandEyeCalibrationAlgorithm | |
| Parameter< HandEyeCalibrationAlgorithm::CalibrationType > | p_calibrationType |
| Calibration type, either EyeInHand or EyeOnBase. | |
| Parameter< HandEyeCalibrationAlgorithm::StreamInfo > | p_streamInfo1 |
| Direction of the transformation of the first tracking sequence. | |
| Parameter< HandEyeCalibrationAlgorithm::StreamInfo > | p_streamInfo2 |
| Direction of the transformation of the second tracking sequence. | |
| Signal | signalAddedSample |
| Signal emitted when a new sample is added to the tracking sequences. | |
| Signal | signalRemovedSample |
| Signal emitted when a sample is removed from the tracking sequences. | |
| Public Attributes inherited from Algorithm | |
| Signal | signalOutputChanged |
| Signal should be emitted by Algorithms when their output/result has changed. | |
| Signal | signalParametersChanged |
| Signal should be emitted by Algorithms when their parameter configuration has changed. | |
| Public Attributes inherited from Configurable | |
| Signal | signalParametersChanged |
Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted. | |
| Protected Member Functions inherited from LiveHandEyeCalibrationAlgorithm | |
| void | onStreamData (std::shared_ptr< const StreamData > streamData) |
| Protected Member Functions inherited from Algorithm | |
| void | loadDefaults () |
| void | registerAction (const std::string &id, const std::string &guiName, const std::function< Algorithm::Status(void)> &action) |
| Register an action to be run via runAction. | |
| template<typename D> | |
| void | registerAction (const std::string &id, const std::string &guiName, Algorithm::Status(D::*action)(void)) |
| Template version of runAction that can be used with a pointer to a member function. | |
| void | registerAction (const Action &action) |
| Register an action. | |
| Protected Member Functions inherited from SignalReceiver | |
| void | disconnectAll () |
| Disconnects all existing connections. | |
| Protected Attributes inherited from LiveHandEyeCalibrationAlgorithm | |
| TrackingStream * | m_trackingStream1 |
| TrackingStream * | m_trackingStream2 |
| std::optional< mat4 > | m_lastDataTracking1 |
| std::optional< mat4 > | m_lastDataTracking2 |
| std::unique_ptr< TrackingSequence > | m_samplesTracking1 |
| std::unique_ptr< TrackingSequence > | m_samplesTracking2 |
| std::optional< mat4 > | m_output |
| Protected Attributes inherited from Algorithm | |
| std::string | m_name |
| Algorithm name. | |
| Progress * | m_progress = nullptr |
| Non-owing pointer to a progress interface. May be a nullptr. | |
| FactoryInfo | m_factoryInfo = {} |
| Record describing how this algorithm was instantiated by the AlgorithmFactory. | |
| int | m_status = Status::Unknown |
| Algorithm status after last call to compute() | |
| std::vector< Action > | m_actions |
| Map of key given by the id of the action, of the available actions of this algorithm. | |
| Protected Attributes inherited from Configurable | |
| std::vector< Param > | m_params |
| List of all registered Parameter and SubProperty instances. | |
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explicit |
Initialize calibration algorithm for robot-camera setup.
| robotStream | Stream providing robot pose data |
| trackingStream | Stream providing camera tracking data Initializes with default configuration: |
Factory method for creating algorithm instance.
| data | ImFusion's DataList containing the tracking streams |
| a | Output parameter for created algorithm |
Requirements:
Created algorithm is configured with:
