3D Coordinate Transformation - Eye-in-Hand

Operator Function

Convert position and orientation information from the input camera coordinate system to obtain position and orientation information in the robot base coordinate system.

Parameter Introduction

Input Parameters

Parameter	Range	Default Value	Description	Illustration
Input Image	0-8	0	IM number for image input

Calculation Parameters

Parameter	Range	Default Value	Description	Illustration
Transformation Matrix			Transformation matrix from camera coordinate system to gripper coordinate system Can bind to select existing matrix
TCP Pose	pose	pose	Tool center point pose corresponding to when the camera captures the image Can bind to select existing pose Position: TCP position information, unit: millimeter Orientation: TCP direction information
Input Type	Point-Plane/Circle	Point-Plane	Set the data type to be transformed Point-Plane: Position information provided by point coordinates, orientation information provided by plane normal vector Circle: Position information provided by circle center coordinates, orientation information provided by direction vector
			Input point coordinates Can bind to select existing point
Plane			Input plane normal vector Can bind to select existing plane
Circle			Input circle parameters Can bind to select existing circle

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
pose	pose		Transformed pose information, pose consists of position and quaternion

Exception Troubleshooting

No.	Exception Information	Corresponding Parameter	Solution
1	Calibration matrix size error		Check if the calibration matrix is 4x4 in size

Example Introduction

Engineering Design

1. Select the Load 3D Point Cloud operator.
2. Select the 3D Hole operator to find the pose information of the target position.
3. Select the 3D Coordinate Transformation - Eye-in-Hand operator to transform the original position and orientation, outputting the pose in the target coordinate system.

Tool Usage

1. Set the IM number of the input image.

2. Set the parameters.

3. Click Test to view the results.

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