#include <RoboticsPlugin/Include/ImFusion/Robotics/Calibration/HandEyeEvaluationAlgorithm.h>

Evaluates hand-eye calibration accuracy (chain error) for robot-camera systems. More...

Inheritance diagram for HandEyeEvaluationAlgorithm:

Detailed Description

Evaluates hand-eye calibration accuracy (chain error) for robot-camera systems.

Extends the LiveHandEyeEvaluationAlgorithm for the specific case of evaluating calibration quality between a robot tracking system and a camera tracking stream.

Note: robotStream corresponds to a trackingStream1, trackingStream corresponds to trackingStream2 in LiveHandEyeEvaluationAlgorithm The expected input is a calibration matrix (from camera to hand or from camera to base), a stream containing the transforms from the robot (effector to base), and one with the output of the tracking system (marker to camera). The output is the difference between the initial and the current value of the transform from the marker to the robot base, which should be zero if this transform doesn't change (i.e. the marker doesn't move w.r.t. the robot base)

Public Member Functions
	HandEyeEvaluationAlgorithm (RobotTrackingStream robotStream, TrackingStream trackingStream)
	Initialize evaluation algorithm for robot-camera setup.

Public Member Functions inherited from LiveHandEyeEvaluationAlgorithm
	LiveHandEyeEvaluationAlgorithm (TrackingStream trackingStream1, TrackingStream trackingStream2)
	Construct live hand-eye evaluation algorithm from two tracking streams.

void	compute () override
	Execute the algorithm.

void	setCalibration (const mat4 &calibration)
	Set calibration matrix, which is the transformation from camera to hand (Eye in Hand) or from base to camera (Eye on Base)

std::optional< mat4 >	calibration ()
	Returns the previously set calibration matrix.

void	initChain ()
	Initialize the chain matrix from the last chain sample.

std::optional< mat4 >	currentChain ()
	Return last chain matrix.

std::optional< mat4 >	initialChain ()
	Return initial chain matrix.

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 LiveHandEyeEvaluationAlgorithm
static bool	createCompatible (const DataList &data, Algorithm **a=nullptr)

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 LiveHandEyeEvaluationAlgorithm
Parameter< HandEyeCalibrationAlgorithm::CalibrationType >	p_calibrationType
	Calibration type, either EyeInHand or EyeOnBase.

Parameter< HandEyeCalibrationAlgorithm::StreamInfo >	p_si1
	Direction of the transformation of the first tracking sequence.

Parameter< HandEyeCalibrationAlgorithm::StreamInfo >	p_si2
	Direction of the transformation of the second tracking sequence.

Signal	signalNewChain

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 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 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.

Constructor & Destructor Documentation

◆ HandEyeEvaluationAlgorithm()

HandEyeEvaluationAlgorithm	(	RobotTrackingStream *	robotStream,
		TrackingStream *	trackingStream )

explicit

Initialize evaluation algorithm for robot-camera setup.

Parameters

robotStream	Stream providing robot pose data
trackingStream	Stream providing camera tracking data

Note: it delegates the construction to the LiveHandEyeEvaluationAlgorithm

Member Function Documentation

◆ createCompatible()

static bool createCompatible	(	const DataList &	data,
		Algorithm **	a = nullptr )

static

Factory method for creating algorithm instance.

Parameters

data	ImFusion's DataList containing the tracking streams.
a	Output parameter for created algorithm.

Returns: true if compatible streams found and algorithm can be created, false otherwise.

Requirements:

Exactly two tracking streams.
One must be RobotTrackingStream.
Other must be regular TrackingStream.

Created algorithm is configured with:

Robot stream as HandToBase.
Camera stream as CalibToCam.

The documentation for this class was generated from the following file:

RoboticsPlugin/Include/ImFusion/Robotics/Calibration/HandEyeEvaluationAlgorithm.h

Detailed Description

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ HandEyeEvaluationAlgorithm()

Member Function Documentation

◆ createCompatible()