Users Manual

Description of run-time parameters
The parameter descriptions are given with the corresponding Web GUI names in brackets.
grid
_
width (Grid Width (m)) Width of the calibration grid in meters. The width should be measured with a very
great accuracy, preferably with sub-millimeter accuracy.
grid
_
height (Grid Height (m)) Height of the calibration grid in meters. The height should be measured with a
very great accuracy, preferably with sub-millimeter accuracy.
robot
_
mounted (Sensor Mounting) If set to 1, the rc_visard is mounted on the robot. If set to 0, the rc_visard
is mounted statically and the calibration grid is mounted on the robot.
(Pose) For convenience, the user can choose in the Web GUI between calibration in XYZABC format or in
XYZ+quaternion format (see Pose formats, Section 13.1). When calibrating using the REST-API, the cali-
bration result will always be given in XYZ+quaternion.
6.7.5 Services
The REST-API service calls offered to programmatically conduct the hand-eye calibration and to store or restore
this component’s parameters are explained below.
save
_
parameters With this service call, the current parameter settings of the hand-eye calibration component
are persisted to the rc_visard. That is, these values are applied even after reboot.
This service requires no arguments.
This service returns no response.
reset
_
defaults restores and applies the default values for this component’s parameters (“factory reset”). Does
not affect the calibration result itself or any of the slots saved during calibration. Only parameters such as
the grid dimensions and the mount type will be reset.
Warning: The user must be aware that calling this service causes the current parameter settings to be
irrecoverably lost.
This service requires no arguments.
This service returns no response.
set
_
pose provides a robot pose as calibration pose to the hand-eye calibration routine.
This service requires the following arguments:
{
"pose": {
"orientation": {
"w": "float64",
"x": "float64",
"y": "float64",
"z": "float64"
},
"position": {
"x": "float64",
"y": "float64",
"z": "float64"
}
},
"slot": "int32"
}
This service returns the following response:
6.7. Hand-eye calibration 63