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Depth Camera Calibration #13
Thanks for sharing the code. I'm quite interested the depth camera calibration process, can you please share more details on the calibration process? For example,
Thanks in advance!
I'm not sure this is correct, but:
EDIT: Wow not sure what I was thinking, but it's to the "tool center" of the robot (what is reported on the pendant / over TCP from the UR). And as to the sign of the offset -- it's really
The readme implies this calibration
EDIT: Yup, changed my mind. The calibration actual provides the pose of the camera relative to the robot frame. In this way, the image from the camera, which may be looking at the workspace from the side or at an angle, can be morphed/transformed so that the image is from a perfectly "birds eye" camera. end edit
Also, for starting out, a blank file named camera_depth_scale.txt will suffice to kill errors preventing code run.
 Note that it's possible the pendant display somehow differs from the actual TCP values -- my z-values were 0.07 on the pendant corresponding to 0.47 in python; to debug, can use examples/simple.py https://github.com/SintefManufacturing/python-urx