Pixel position to UR coordinates

[obenyaala]

Hi,
I couldn't find another way of contacting you except for writing an issue :/

I am working on something similar that inculdes coverting a pixel position to UR coordinates. I would be grateful if you could share with me the basics of how you did it.

Thanks
Best Regards

[ErwinLutke]

The way i did it is as followed:
Do note that the camera is mounted on the flange in this case.

• I set the camera to a resolution of 1280*720.
• With a measuring tape I physically checked how many centimeters where visible on the camera image.
• I adjusted the height of the flange to get a measured width of 28,5cm on the camera.
• With the centimeter to pixel ratio known I could now calculate the physical offset (28,5 / 1280 = CtP)
• I used the center of the camera as my offset guide.
• I used the CtP to calculate an objects distance from the center of the camera.
• From the camera's center I physically measured the X, Y distance to the TCP. (47 and 50mm in my case)
• Using the current TCP position (I used MODBUS to get it) and adjusting it in accordance with the offset so the TCP is now aligned with the object
  tcp_position[0] = tcp_position[0] + 47
tcp_position[1] = tcp_position[1] + 50

Finally adjusting the height to enable the TCP to grab the object (my tool was a magnet)

If you have any questions, drop them here!

Good luck!