This library was designed to help us calibrate cameras to robots and to calibrate difficult end of arm objects (like say a car door, which isn't really a tool) to the robot flange. It uses error minimization to achieve this. The error comes from the euclidean and angular difference between a measured value and an estimate.
We have built the library to handle two primary use cases which we have:
- Calibrating a UR robot to a flycapture2 enabled camera
- Calibrating an odd object (currently a door) mounted on the end of a KUKA arm.
It would be great to have the system expanded in the future.
You have two options:
pip install robot2cam_calibration- Clone the repository and run
python setup.py install