Method CalibrateRobotWorldHandEye

Namespace

OpenCvSharp

Assembly

OpenCvSharp.dll

CalibrateRobotWorldHandEye(IEnumerable<Mat>, IEnumerable<Mat>, IEnumerable<Mat>, IEnumerable<Mat>, OutputArray, OutputArray, OutputArray, OutputArray, RobotWorldHandEyeCalibrationMethod)

Computes Robot-World/Hand-Eye calibration. The function performs the Robot-World/Hand-Eye calibration using various methods. One approach consists in estimating the rotation then the translation(separable solutions):

• M.Shah, Solving the robot-world/hand-eye calibration problem using the kronecker product \cite Shah2013SolvingTR

[SuppressMessage("Maintainability", "CA1508: Avoid dead conditional code")]
public static void CalibrateRobotWorldHandEye(IEnumerable<Mat> R_world2cam, IEnumerable<Mat> t_world2cam, IEnumerable<Mat> R_base2gripper, IEnumerable<Mat> t_base2gripper, OutputArray R_base2world, OutputArray t_base2world, OutputArray R_gripper2cam, OutputArray t_gripper2cam, RobotWorldHandEyeCalibrationMethod method = RobotWorldHandEyeCalibrationMethod.SHAH)

Parameters

R_world2cam IEnumerable<Mat>

[in] R_world2cam Rotation part extracted from the homogeneous matrix that transforms a point expressed in the world frame to the camera frame. This is a vector of Mat that contains the rotation, (3x3) rotation matrices or (3x1) rotation vectors,for all the transformations from world frame to the camera frame.

t_world2cam IEnumerable<Mat>

[in] Translation part extracted from the homogeneous matrix that transforms a point expressed in the world frame to the camera frame. This is a vector (vector<Mat>) that contains the (3x1) translation vectors for all the transformations from world frame to the camera frame.

R_base2gripper IEnumerable<Mat>

[in] Rotation part extracted from the homogeneous matrix that transforms a point expressed in the robot base frame to the gripper frame. This is a vector (vector<Mat>) that contains the rotation, (3x3) rotation matrices or (3x1) rotation vectors, for all the transformations from robot base frame to the gripper frame.

t_base2gripper IEnumerable<Mat>

[in] Rotation part extracted from the homogeneous matrix that transforms a point expressed in the robot base frame to the gripper frame. This is a vector (vector<Mat>) that contains the (3x1) translation vectors for all the transformations from robot base frame to the gripper frame.

R_base2world OutputArray

[out] R_base2world Estimated (3x3) rotation part extracted from the homogeneous matrix that transforms a point expressed in the robot base frame to the world frame.

t_base2world OutputArray

[out] t_base2world Estimated (3x1) translation part extracted from the homogeneous matrix that transforms a point expressed in the robot base frame to the world frame.

R_gripper2cam OutputArray

[out] R_gripper2cam Estimated (3x3) rotation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the camera frame.

t_gripper2cam OutputArray

[out] Estimated (3x1) translation part extracted from the homogeneous matrix that transforms a pointexpressed in the gripper frame to the camera frame.

method RobotWorldHandEyeCalibrationMethod

One of the implemented Robot-World/Hand-Eye calibration method

CalibrateRobotWorldHandEye(IEnumerable<Mat>, IEnumerable<Mat>, IEnumerable<Mat>, IEnumerable<Mat>, out double[,], out double[], out double[,], out double[], RobotWorldHandEyeCalibrationMethod)

omputes Robot-World/Hand-Eye calibration. The function performs the Robot-World/Hand-Eye calibration using various methods. One approach consists in estimating the rotation then the translation(separable solutions):

• M.Shah, Solving the robot-world/hand-eye calibration problem using the kronecker product \cite Shah2013SolvingTR

[SuppressMessage("Maintainability", "CA1508: Avoid dead conditional code")]
public static void CalibrateRobotWorldHandEye(IEnumerable<Mat> R_world2cam, IEnumerable<Mat> t_world2cam, IEnumerable<Mat> R_base2gripper, IEnumerable<Mat> t_base2gripper, out double[,] R_base2world, out double[] t_base2world, out double[,] R_gripper2cam, out double[] t_gripper2cam, RobotWorldHandEyeCalibrationMethod method = RobotWorldHandEyeCalibrationMethod.SHAH)

Parameters

R_world2cam IEnumerable<Mat>

[in] R_world2cam Rotation part extracted from the homogeneous matrix that transforms a point expressed in the world frame to the camera frame. This is a vector of Mat that contains the rotation, (3x3) rotation matrices or (3x1) rotation vectors,for all the transformations from world frame to the camera frame.

t_world2cam IEnumerable<Mat>

[in] Translation part extracted from the homogeneous matrix that transforms a point expressed in the world frame to the camera frame. This is a vector (vector<Mat>) that contains the (3x1) translation vectors for all the transformations from world frame to the camera frame.

R_base2gripper IEnumerable<Mat>

[in] Rotation part extracted from the homogeneous matrix that transforms a point expressed in the robot base frame to the gripper frame. This is a vector (vector<Mat>) that contains the rotation, (3x3) rotation matrices or (3x1) rotation vectors, for all the transformations from robot base frame to the gripper frame.

t_base2gripper IEnumerable<Mat>

[in] Rotation part extracted from the homogeneous matrix that transforms a point expressed in the robot base frame to the gripper frame. This is a vector (vector<Mat>) that contains the (3x1) translation vectors for all the transformations from robot base frame to the gripper frame.

R_base2world double[,]

[out] R_base2world Estimated (3x3) rotation part extracted from the homogeneous matrix that transforms a point expressed in the robot base frame to the world frame.

t_base2world double[]

[out] t_base2world Estimated (3x1) translation part extracted from the homogeneous matrix that transforms a point expressed in the robot base frame to the world frame.

R_gripper2cam double[,]

[out] R_gripper2cam Estimated (3x3) rotation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the camera frame.

t_gripper2cam double[]

[out] Estimated (3x1) translation part extracted from the homogeneous matrix that transforms a pointexpressed in the gripper frame to the camera frame.

method RobotWorldHandEyeCalibrationMethod

One of the implemented Robot-World/Hand-Eye calibration method