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Invoke.CalibrateEyeInHand

Computes Hand-Eye calibration matrices.

Namespace:Avl
Assembly:AvlNet.dll

Syntax

C++
C#
 
public static void CalibrateEyeInHand
(
	List<Avl.Matrix> inRotationGripperToBase,
	List<Avl.Matrix> inTranslationGripperToBase,
	List<Avl.Matrix> inRotationTargetToCam,
	List<Avl.Matrix> inTranslationTargetToCam,
	Avl.HandEyeCalibrationMethod inCalibrationMethod,
	Avl.Matrix outRotationCamToGripper,
	Avl.Matrix outTranslationCamToGripper
)

Parameters

Name Type Range Default Description
inRotationGripperToBaseSystem.Collections.Generic.List<Avl.Matrix>Rotation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the robot base frame.
inTranslationGripperToBaseSystem.Collections.Generic.List<Avl.Matrix>Translation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the robot base frame.
inRotationTargetToCamSystem.Collections.Generic.List<Avl.Matrix>Rotation part extracted from the homogeneous matrix that transforms a point expressed in the target frame to the camera frame.
inTranslationTargetToCamSystem.Collections.Generic.List<Avl.Matrix>Translation part extracted from the homogeneous matrix that transforms a point expressed in the target frame to the camera frame.
inCalibrationMethodAvl.HandEyeCalibrationMethodCalibration method.
outRotationCamToGripperAvl.MatrixEstimated rotation part extracted from the homogeneous matrix that transforms a point expressed in the camera frame to the gripper frame.
outTranslationCamToGripperAvl.MatrixEstimated translation part extracted from the homogeneous matrix that transforms a point expressed in the camera frame to the gripper frame.

See also