3D Hand-Eye Calibration - Eye-in-Hand

Operator Function

Calibrate the camera coordinate system and gripper coordinate system, outputting the transformation matrix from the camera coordinate system to the gripper coordinate system.

Note: The input robot TCP position data unit is millimeters, and the orientation data format is quaternion w,x,y,z

Parameter Introduction

Calculation Parameters

Parameter	Range	Default Value	Description	Illustration
Calibration Folder Path		Empty	Select the path of the calibration folder Note: Each calibration folder needs to contain the following: ordered point cloud PCD file, calibration board RGB image, and robot TCP TXT file. The content of the robot TCP TXT file is as follows:
Camera Coordinate System	Left-handed/Right-handed	Right-handed	Select whether the camera coordinate system is left-handed or right-handed Right-handed: Let the right thumb point in the positive x-axis direction, the index finger point in the positive y-axis direction. If the middle finger can point in the positive z-axis direction, then this coordinate system is called a right-handed Cartesian coordinate system Left-handed: Let the left thumb point in the positive x-axis direction, the index finger point in the positive y-axis direction. If the middle finger can point in the positive z-axis direction, then this coordinate system is called a left-handed Cartesian coordinate system
Type	Checkerboard	Checkerboard	Checkerboard type calibration board
Checkerboard Rows		17	Number of inner corner points in each column direction of the checkerboard
Checkerboard Columns		19	Number of inner corner points in each row direction of the checkerboard
Grid Size		16.000	Side length of the square grid

Output Parameters

Name	Type	Range	Description
Result	bool	true/false	true for success false for failure
Warning	bool	true/false	true indicates a warning false indicates no warning
Message	string		Output success, error, or warning messages. Empty if no error or warning.
Time	float		Operator execution time, unit: ms
matrix	matrix		Hand-eye calibration matrix

The content of the robot TCP TXT file is as follows:

# x y z W X Y Z
-674.403 -48.73 208.417 0.027337064798979564 0.9987043426207015 0.02640403261922582 -0.0338400351680058

Exception Troubleshooting

No.	Exception Information	Corresponding Parameter	Solution
1	Calibration folder path is empty		Select the correct file path
2	Calibration folder does not exist		Select the correct calibration file path
3	Eye-in-hand calibration failed		Check if the folders containing rgb, tcp, and point cloud pcd files are empty. If empty, place the data correctly

Example Introduction

Engineering Design

1. Select the 3D Hand-Eye Calibration - Eye-in-Hand tool.

Tool Usage

1. Set the calibration folder path.

2. Set the calibration board parameters.

3. Click Test to view the calibration matrix.

4. If there are no issues, click Save. Run the operator in the run list, and then view the running results.