CvInvokeCalibrateHandEye Method

public static void CalibrateHandEye(
	IInputArrayOfArrays rGripper2base,
	IInputArrayOfArrays tGripper2base,
	IInputArrayOfArrays rTarget2cam,
	IInputArrayOfArrays tTarget2cam,
	IOutputArray rCam2gripper,
	IOutputArray tCam2gripper,
	HandEyeCalibrationMethod method
)

Public Shared Sub CalibrateHandEye ( 
	rGripper2base As IInputArrayOfArrays,
	tGripper2base As IInputArrayOfArrays,
	rTarget2cam As IInputArrayOfArrays,
	tTarget2cam As IInputArrayOfArrays,
	rCam2gripper As IOutputArray,
	tCam2gripper As IOutputArray,
	method As HandEyeCalibrationMethod
)

public:
static void CalibrateHandEye(
	IInputArrayOfArrays^ rGripper2base, 
	IInputArrayOfArrays^ tGripper2base, 
	IInputArrayOfArrays^ rTarget2cam, 
	IInputArrayOfArrays^ tTarget2cam, 
	IOutputArray^ rCam2gripper, 
	IOutputArray^ tCam2gripper, 
	HandEyeCalibrationMethod method
)

static member CalibrateHandEye : 
        rGripper2base : IInputArrayOfArrays * 
        tGripper2base : IInputArrayOfArrays * 
        rTarget2cam : IInputArrayOfArrays * 
        tTarget2cam : IInputArrayOfArrays * 
        rCam2gripper : IOutputArray * 
        tCam2gripper : IOutputArray * 
        method : HandEyeCalibrationMethod -> unit 

Parameters

rGripper2base

Type: Emgu.CVIInputArrayOfArrays
Rotation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the robot base frame. This is a vector (vector<Mat>) that contains the rotation matrices for all the transformations from gripper frame to robot base frame.

tGripper2base

Type: Emgu.CVIInputArrayOfArrays
Translation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the robot base frame. This is a vector (vector<Mat>) that contains the translation vectors for all the transformations from gripper frame to robot base frame.

rTarget2cam

Type: Emgu.CVIInputArrayOfArrays
Rotation part extracted from the homogeneous matrix that transforms a point expressed in the target frame to the camera frame. This is a vector (vector<Mat>) that contains the rotation matrices for all the transformations from calibration target frame to camera frame.

tTarget2cam

Type: Emgu.CVIInputArrayOfArrays
Rotation part extracted from the homogeneous matrix that transforms a point expressed in the target frame to the camera frame. This is a vector (vector<Mat>) that contains the translation vectors for all the transformations from calibration target frame to camera frame.

rCam2gripper

Type: Emgu.CVIOutputArray
Estimated rotation part extracted from the homogeneous matrix that transforms a point expressed in the camera frame to the gripper frame.

tCam2gripper

Type: Emgu.CVIOutputArray
Estimated translation part extracted from the homogeneous matrix that transforms a point expressed in the camera frame to the gripper frame.

method

Type: Emgu.CV.CvEnumHandEyeCalibrationMethod
One of the implemented Hand-Eye calibration method

Reference