Hi,
we want understand wich type of camera the system is using to take a 6D calibration from a marker,
and how the system can take all of this information from a 2D marker (x,y,z,rx,ry,rz).
Thank you in advance.
BR
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Hi Alessandro
Eventhough the ER-FLEX is equipped with a 3D camera, our "Calibrate to marker" functionality is solely based on the 2D image data from our camera. When commissioning the robot, a camera calibration is done to obtain the intrinsics and extrinsics of the camera. This allows the software to translate coordinates gathered by the camera to coordinates in the robots base frame.
As for obtaining translation and rotation information from a 2D marker, this is done through a method called Perspective-n-Point which is a common algorithm used in computer vision to obtain 6D poses from 2D markers.
The Ability software packages this functionality in an easy to use program block.