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After the calibration check of the system is properly configured, use ScanScene command to show obstacles detected by RapidSense. Verify that the detected obstacles match the actual cells. Incorrect orientation of the calibration tag may result in the following.
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Sample cal.json File for (2) Sensors
| Code Block |
|---|
{
"calibration": [
{
"extrinsics": [
0.6799281765861674,
0.2802809975592367,
-0.6775988772586244,
0.6467668192828412,
0.7295545356046743,
-0.35158241966904175,
0.5866344469518174,
-0.7283175603639641,
-0.07380936334901554,
-0.8932146044064257,
-0.44353109067951274,
0.9372694073404532,
0.0,
0.0,
0.0,
1.0
],
"serial": "046322250262",
"marker" : {
"robot_mounted" : {
"id": 6,
"length": 0.0097,
"robot" : "UR",
"cal_target": "target_out69"
},
"stationary" : {
"id": 8,
"length": 0.009,
"pose" : [
1.0,
0.0,
0.0,
0.0,
0.0,
1.0,
0.0,
0.0,
0.0,
0.0,
1.0,
0.0,
0.0,
0.0,
0.0,
1.0
]
}
}
},
{
"extrinsics": [
0.6799281765861674,
0.2802809975592367,
-0.6775988772586244,
0.6467668192828412,
0.7295545356046743,
-0.35158241966904175,
0.5866344469518174,
-0.7283175603639641,
-0.07380936334901554,
-0.8932146044064257,
-0.44353109067951274,
0.9372694073404532,
0.0,
0.0,
0.0,
1.0
],
"serial": "035322250884",
"marker" : {
"robot_mounted" : {
"id": 6,
"length": 0.0097,
"robot" : "Fanuc",
"cal_target": "_approach_1_1"
},
"stationary" : {
"id": 7,
"length": 0.009,
"pose" : [
1.0,
0.0,
0.0,
0.0,
0.0,
1.0,
0.0,
0.0,
0.0,
0.0,
1.0,
0.0,
0.0,
0.0,
0.0,
1.0
]
}
}
}
]
}
|
Demo Video of Calibration
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