calibrate_camera_to_robot
Skill class for ai.intrinsic.calibrate_camera_to_robot skill.
The calibrate_camera_to_robot skill performs calibration between a camera and
a robot, also known as hand-eye calibration. It supports both stationary cameras
(observing a calibration pattern on the robot) and moving cameras
(mounted on the robot, observing a fixed calibration pattern).
The skill requests the CalibrationService to compute the calibration using the
stored data points (robot poses and pattern detections). It validates the result against
requested translation and rotation RMS error thresholds. If successful,
it returns a CameraToRobotCalibrationResult.
This skill causes an update of the camera poses in the execute world to reflect the new
calibration. However, it does not automatically apply the updated camera poses to the
initial world; use save_calibration_result for that.
Prerequisites
For calibrate_camera_to_robot to work, a calibration session must have been initialized
in the CalibrationService and data (camera poses and pattern detections) must have been
collected for the camera being calibrated. This is typically done by calling the
initialize_calibration and collect_calibration_data skills beforehand.
Usage Example
This skill does not have any usage example yet.
Parameters
is_moving_camera
If true, the camera is moving (mounted on the robot). Otherwise, the camera is stationary.
translation_root_mean_square_error_threshold
Threshold on the translation error in meters (computed as the root of the mean square error). If the calibration error is greater than the threshold, the result will not be accepted and thus not applied to the world.
rotation_root_mean_square_error_threshold
Threshold on the rotation error in degrees (computed as the root of the mean square error). If the calibration error is greater than the threshold, the result will not be accepted and thus not applied to the world.
Returns
calibration_results
The resulting calibration parameters for the camera-to-robot
transformation. The index of each entry corresponds to the index of the
camera in the initialize_calibration skill input.
Error Code
The skill does not have error codes yet