Users Manual

{
"message": "string",
"status": "int32",
"success": "bool"
}
The slot argument is used to assign numbers to the different calibration poses. At each instant when
set
_
pose is called, an image is recorded. This service call fails if the grid was undetectable in the current
image.
Table 6.7.2: Return codes of the set
_
pose service call
status success Description
1 true pose stored successfully
3 true pose stored successfully; collected enough poses for calibration, i.e., ready to
calibrate
4 false calibration grid was not detected, e.g., not fully visible in camera image
8 false no image data available
12 false given orientation values are invalid
reset
_
calibration deletes all previously provided poses and corresponding images. The last saved calibration
result is reloaded. This service might be used to (re-)start the hand-eye calibration from scratch.
This service requires no arguments.
This service returns the following response:
{
"message": "string",
"status": "int32",
"success": "bool"
}
calibrate calculates and returns the hand-eye calibration transformation with the robot poses configured by the
set
_
pose service.
Note: For calculating the hand-eye calibration transformation at least three robot calibration poses are
required (see set
_
pose service). However, four calibration poses are recommended.
This service requires no arguments.
This service returns the following response:
{
"error": "float64",
"message": "string",
"pose": {
"orientation": {
"w": "float64",
"x": "float64",
"y": "float64",
"z": "float64"
},
"position": {
"x": "float64",
"y": "float64",
"z": "float64"
}
},
"robot
_
mounted": "bool",
"status": "int32",
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6.7. Hand-eye calibration 64