2D Laser Camera Handeye Calibration using a Triangle Target.

Underline Algo

Procedures

Points Teaching

Start RR robot driver. Jog to triangle vertices in Teach mode and use save_q.py to log the joint angles.

Scan Motion

robot_laser_motion_triangle.py will generate a rough motion to scan over the trangle. Monitor the live scan to make sure the scan covers the entire triangle. Also make move the scan motion up and down. View 3D Model

Processing

Stack up all frames in time axis. Use scan_playback.py, pc_playback.py and edge_detection.py to check each step's result. The scripts will identify triangle vertices in time and space, and display as 2D+time 3D pointcloud.

Run calibration.py to generate the transformation matrix.

Visual Verification

Use save_q.py to log a tapped spatial point. Run verification.py to see if the laser line is able to reach that point.