Ordering Information
The highest quality tags can be custom made purchased at: calib.io. Send the aruco_tags.pdf to calib.io and have the markers sized at least 10cm wide. The aruco_tags.pdf attached has 20 different targets made to RapidSense specs. It will depend on the system setup for how many tags will be required.
For quick iteration, Ponoko can be used; however, the tag is of a much lower quality. It is highly recommended to order from calib.io and only use Ponoko for prototyping as they typically have quicker turnaround time.
Tag Placement
Currently, RapidSense supports tags that are mounted off of the robot faceplate for camera calibration. If the tag cannot be permanently mounted off of the robot faceplate (such as being fixed on the end of arm tooling) and it must be removable, then it should be designed such that re-mounting the tag is accurate and repeatable. A Tool Center Point (TCP) location will need to be provided to the system for providing where the bottom left corner of the tag is located relative to the robot faceplate origin.
If more than one calibration tag is required for a system, each tag must have a unique pattern. It may be required to utilize more than one calibration tag per system such as if:
One robot with a calibration tag on the end effector cannot reach the field of view (FOV) of all of the cameras being utilized for the system.
Calibration tags are mounted in the scene for camera calibration checking.