handeye_calibration

Installation

git clone git@github.com:xiaoBOSS97/handeye_calibration.git
    
cd handeye_calibration

pip install -r requirements.txt

Usage

step 1. sample calibration images and robot arm poses

• store camera calibration images in /eye2hand_cam/img_1 as png files, around 20-30 images

• store hand eye calibration images in /eye2hand_cam/img_2 as png files, around 20-30 images (better different from camera calibration images)

• store the corresponding robot arm poses in /eye2hand_cam/img_2/pose.npy as npy files, example format [x, y, z, rx, ry, rz]

step 2. run calibration

python main.py

Watch out!

• the images readed by glob.glob() are in random order, so you need to check the order of the images and poses in the pose.npy file, and make sure the order is correct.