Live Hand-Eye Calibration

The algorithm processes a stream of an end effector and a camera for the hand-eye calibration.

Input

  • Tracking stream of the robot end effector

  • 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 or Eye 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 or BaseToHand, the other should be set to CalibToCam or CamToCalib.

    • Stream 2:

      Relativity of the acquired second stream. If this stream is set to HandToBase or BaseToHand, the other should be set to CalibToCam or CamToCalib.

    • The button Save allows saving of the calibration (Camera-to-Hand in Eye in Hand case or Base-to-Camera in Eye on Base case).