CalibrateEyeInHand


Computes Hand-Eye calibration matrices.

Syntax

C++
C#
Python
 
def CalibrateEyeInHand(
	inRotationGripperToBase: list[Matrix],
	inTranslationGripperToBase: list[Matrix],
	inRotationTargetToCam: list[Matrix],
	inTranslationTargetToCam: list[Matrix],
	inCalibrationMethod: HandEyeCalibrationMethod,
	outRotationCamToGripper: Matrix,
	outTranslationCamToGripper: Matrix,
	/
)
-> None

Parameters

Name Type Default Description
Input value inRotationGripperToBase list[Matrix] Rotation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the robot base frame.
Input value inTranslationGripperToBase list[Matrix] Translation part extracted from the homogeneous matrix that transforms a point expressed in the gripper frame to the robot base frame.
Input value inRotationTargetToCam list[Matrix] Rotation part extracted from the homogeneous matrix that transforms a point expressed in the target frame to the camera frame.
Input value inTranslationTargetToCam list[Matrix] Translation part extracted from the homogeneous matrix that transforms a point expressed in the target frame to the camera frame
Input value inCalibrationMethod HandEyeCalibrationMethod Calibration method.
Output value outRotationCamToGripper Matrix Estimated rotation part extracted from the homogeneous matrix that transforms a point expressed in the camera frame to the gripper frame.
Output value outTranslationCamToGripper Matrix Estimated translation part extracted from the homogeneous matrix that transforms a point expressed in the camera frame to the gripper frame.