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If calibration fails, verify the tag(s) are properly mounted to the robots (i.e., their orientation is correct, etc).
Sample cal.json File for (
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3) Sensors
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| Code Block |
|---|
{
"calibration": [
{
"serial_number": "xyz",
"extrinsics": [
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
],
"seriallast_calibrated": "xyz2024-03-27 21:40:10.549000000",
"marker": {
"robot_mounted": {
"id": 18,
"length": 1.0,
"robot"cal_target": "Fanucxyz_cal",
}
"cal_target": "fanuc_cal" }
},
{
} },
{"serial_number": "abc",
"extrinsics": [
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
],
"seriallast_calibrated": "abc2024-03-27 21:40:15.218000000",
"marker": {
"robot_mounted": {
"id": 28,
"lengthcal_target": 2.0, "abc_cal"
}
"robot": "UR", }
},
"cal_target": "cal_target_UR" {
},
"serial_number": "123",
"stationaryextrinsics": {[
"id": 41.0,
0.0,
"length": 0.1, 0.0,
"pose": [ 0.0,
10.0,
1.0,
0.0, 0.0,
0.0,
0.0,
0.0,
1.0,
1.0, 0.0,
0.0,
0.0,
0.0,
1.0
0.0, ],
"last_calibrated": "2024-03-27 21:40:20.819000000",
1.0, "marker": {
0.0,
"robot_mounted": {
0.0"id": 8,
"cal_target": "123_cal"
0.0, }
0.0, }
}
]
} |
Sample markers.json File associated to the previous cal.json sample
| Code Block |
|---|
{ "markers": [ 1.0 { ]"id": 8, "length": 0.09, } }"robot": "Fanuc" } ] } |
Demo Video of Calibration
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