Live Hand-Eye Calibration¶
The algorithm processes a stream of an end effector and a camera for the hand-eye calibration.
Input¶
- Live tracking stream of the robot end effector
- Live tracking stream of the camera with respect to the calibration marker
Output¶
The transformation matrices are printed in the log output.
Description¶
The algorithm has two main parts:
- Samples:
- Add:
- Acquires a new sample from the streams.
- Remove last:
- Removes the latest sample from the streams.
- Load:
- Load previously acquired samples.
- Save:
- Save previously acquired samples.
- Calibration:
- Type:
- Can be
Eye in Hand
orEye on Base
. Refer to hand-eye calibration for the explanation of these types.
- Stream 1:
- Relativity of the acquired first stream. If this stream is set to
HandToBase
orBaseToHand
, the other should be set toCalibToCam
orCamToCalib
.
- Stream 2:
- Relativity of the acquired second stream. If this stream is set to
HandToBase
orBaseToHand
, the other should be set toCalibToCam
orCamToCalib
.- The button Save allows saving of the calibration (Camera-to-Hand in
Eye in Hand
case or Base-to-Camera inEye on Base
case).