Hi everyone,
I’m working on an Eye-to-Hand calibration using a 6-DOF robot and a fixed external camera (infrared marker tracking system).
For each acquisition, I have a synchronized pose pair:
bTt
: Pose of the robot TCP in the robot base frame (Euler XYZ angles in degrees + position). I convert this into a 3×3 rotation matrix and a translation vector.cTt
: Pose of the TCP in the camera frame, given as a 3×3 rotation matrix and a translation vector.
I have collected 5 such pose pairs (I can collect as many pairs as I want)
I want to compute the homogeneous transformation bTc
(i.e., the pose of the camera in the robot base frame).
My question:
Can I use calibrateHandEye()
or an other function to perform this computation using my data ?
Thanks!