User Manual

After the robot reaches each calibration position, the corresponding pose T
ext
robot
of the user-defined robot frame
in the user-defined external reference frame ext needs to be reported to the hand-eye calibration component (2b.).
For this purpose, the component offers different slots to store the reported poses and the rc_visard’s corresponding
left camera images. All filled slots will then be used to calculate the desired calibration transformation between
the rc_visard’s camera frame and either the user-defined robot frame (robot-mounted sensor) or the user-defined
external reference frame ext (static sensor).
Note: To successfully calculate the hand-eye calibration transformation, at least three different robot calibra-
tion poses need to be reported and stored in slots. However, to prevent errors induced by possible inaccurate
measurements, at least four calibration poses are recommended.
To transmit the poses programmatically, the component’s REST-API offers the set
_
pose service call (see Ser-
vices, Section 6.7.5).
Web GUI example: After completing the calibration settings in step 1 and clicking Next, the Web GUI offers
four different slots (First View, Second View, etc.) for the user to fill manually with robot poses. At the very
top, a live stream from the camera is shown indicating whether the calibration grid is currently detected or
not. Next to each slot, a figure suggests a respective dedicated viewpoint on the grid. For each slot, the
robot must be operated to achieve the suggested view.
6.7. Hand-eye calibration 59