# calibration

**Repository Path**: yaohaitang/calibration

## Basic Information

- **Project Name**: calibration
- **Description**: Includes eye out of hand and eye in hand
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-05-11
- **Last Updated**: 2024-05-11

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README


Operation steps:

EyeInHand:
1. Import camera parameters from param.txt into the input_EyeInHand folder.
2. Capture 8 BMP and TIFF images with different poses into the input_EyeInHand folder.
Import the positions of the robot arm under 8 different poses (order: Rx, Ry, Rz, X, Y, Z).
3. By default, use a calibration board with a 20mm center distance ([link](https://github.com/Open3DV/Xema/blob/master/docs/160x130.svg)). Otherwise, modify [CircleObjectPointsGenerate](https://github.com/Open3DV/EyeInHand_calibration/blob/e54b68e1d059ef3a5d20bf6394691d30e93f472d/calib.py#L329C5-L329C31) function accordingly.
4. Run the calib EyeInHand() function under calib.py
5. Check the "output_EyeInHand/result.txt" (order: rotation_matrix[0:9], traslation_vector[0:3])
6. Result verification: open .xyz files generated in the "output_EyeInHand/" folder into CloudCompare to check the overlap of the centers. 

EyeToHand:
1. Import camera parameters from param.txt into the input_EyeToHand folder.
2. Capture 5 BMP and TIFF images with different poses into the input_EyeToHand folder.
Import the positions of the robot arm under 5 different poses (order: Rx, Ry, Rz, X, Y, Z).
3. By default, use a calibration board with a 40mm center distance. Otherwise, modify [CircleObjectPointsGenerate](https://github.com/Open3DV/EyeInHand_calibration/blob/e54b68e1d059ef3a5d20bf6394691d30e93f472d/calib.py#L329C5-L329C31) function accordingly.
4. Run the calib EyeTonHand() function under calib.py
5. Check the "output_EyeToHand/result.txt" (order: rotation_matrix[0:9], traslation_vector[0:3])
6. Result verification: open .xyz files generated in the "output_EyeToHand/" folder into CloudCompare to check the overlap of the centers.