RobotCalibration

Find coordinate systems transformation between RGBD camera axes and robot's ones.

Compute the transformation based on 4+ positions of any robot with pictures of robot in every position. To find the positions of a robot's manipulator from a camera, the robot should hold a color ball.

Usage

Install requirements.txt

1. Put a sequence of calibration images and validation images of a robot in the images and 'validation' folders
2. Save the corresponding coordinates of a manipulator in the robot coordinate system to the positions/positions.json
3. Set up a RoI in configs/roi.json and a matrix of intrinsic camera parameters in configs/camera_matrix.json
4. Run python3 calibrate.py or use jupyter notebook calibrate.ipynb
5. Result transformation is saved in 'transformation.npy', also its accuracy on the validation set will be printed in calibrate.py

Dependencies

• python3
• opencv (3.3.1)
• numpy (1.14.2)