HandEyeCalibrationCalibrate.srv

uint8 EYE_TO_HAND = 1
uint8 EYE_IN_HAND = 2

# The configuration to use for the hand-eye calibration: EYE_TO_HAND or EYE_IN_HAND
uint8 configuration

# Handles of hand-eye captures to use in this hand-eye calibration. Leave empty to use all captures.
int32[] capture_handles

# Optionally, add fixed objects for low degrees-of-freedom (DOF) hand-eye calibration. Leave default for regular (6-DOF)
# calibration.
FixedPlacementOfCalibrationObjects fixed_objects

---
bool success

# Textual representation of the result. Any indices being referred to correspond to entries into the provided list of
# capture handles.
#
# Note: Any reported lengths in this message are given in units of millimeter, which are used internally in the Zivid
# driver. This applies only to the textual representation of the result, other returned numerical results are given in
# the ROS convention of meter, as specified for each related field.
string message

# Computed hand-eye transform.
#
# The transform has the following meaning depending on the provided configuration:
#
#   - Eye-in-hand: Camera pose in robot end-effector frame.
#   - Eye-to-hand: Camera pose in robot base frame.
#
# Note: Lengths are given in units of meter. In the Zivid driver, the units are automatically converted from the default
# units of the Zivid point clouds in millimeter, to the ROS convention of meter.
geometry_msgs/Transform transform

# Hand-eye calibration residuals.
#
# Feature points (for each input pose) are transformed into a common frame. A rigid transform between feature points and
# corresponding centroids are utilized to compute residuals for rotational and translational parts.
#
# The order and size of the list of residuals correspond to the provided list of capture handles.
HandEyeCalibrationResidual[] residuals