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calibrate_hand_eye

Skill class for ai.intrinsic.calibrate_hand_eye skill.

Performs a hand-eye (camera to robot) calibration calibration for a single robot and a single camera.

The skill operates on an input request which contains the information about the setup (STATIONARY_CAMERA or MOVING_CAMERA) and the input data represented as a set of pose pairs. This input request can be collected using the collect_calibration_data skill.

The pose pairs might be a vector of pairs of camera to object poses and base to flange poses. Or the pose pairs might be a vector of pairs of pattern detections and base to flange poses. Based on all collected samples it then performs a hand-eye calibration and returns the result of the calibration.

The following two cases are supported:

  • 'STATIONARY_CAMERA': The camera has a fixed position in the workcell and the calibration object is mounted on the robot's flange.
  • 'MOVING_CAMERA': The camera is mounted on the robot's flange and the calibration object is placed in the workcell.

This skill returns the following result: calibration_result (ANY: intrinsic_proto.perception.HandEyeCalibrationResult) - Result of the hand-eye calibration.

Prerequisites​

This skill does not have any prerequisite.

Usage Example​

This skill does not have any usage example yet.

Parameters​

request​

Specifies the hand-eye-calibration setup to be solved. In particular, the request is used to specify the hand-eye-calibration dataset and if we are dealing with a moving or a stationary camera setup.

calibration_object​

Uniquely identifies the object used for calibration. Typically a calibration pattern, but - with an appropriate detector - all kinds of objects can be used.

translation_root_mean_square_error_threshold​

Threshold on the translation error in meter (computed as the root of the mean square error). If the calibration error is greater than the threshold, the result will not be accepted and thus not applied to the world.

rotation_root_mean_square_error_threshold​

Threshold on the rotation error in degree (computed as the root of the mean square error). If the calibration error is greater than the threshold, the result will not be accepted and thus not applied to the world.

Capabilities​

camera​

Resource with capability CameraConfig

robot​

Resource having all of the following capabilities:

  • Icon2Connection

  • Icon2PositionPart

Returns​

hand_eye_calibration_result​

Error Code​

The skill does not have error codes yet