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Aruco tag mounted on the user created mount, attached to the robot. The details of Aruco tags can be found in this user manual under System Setup - Hardware Requirements - Calibration Tag Details.
(Optional)Stationary Aruco tag placed in the scene which is clearly visible to the sensor(s)
Calibration preset in RPC called “Calibration” with accurate TCP frame located at the center of the Aruco tag.
For calibrating, create a frame on the Aruco tag face centered with its X axis (Red) pointing to the right, Y (Green) pointing upwards and Z (Blue) coming out of the face. Something like this:
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cal.json file which has all the camera serial_numbers and each sensor’s corresponding robot target position for calibration which have the Aruco tag on the robot in the sensor field of view
markers.json file which has the Aruco marker’s ID, length, and name of the robot to which the marker was mounted.
A home robot target position with the following naming convention: robotname_home.
The calibration robot target positions present in cal.json should be connected on Roadmap to the home target in RPC project in order for the calibration to succeed.
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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,
"robotcal_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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