From 69a52dd40ac7e9e40131a5692c1be7c221642276 Mon Sep 17 00:00:00 2001 From: Gary Lvov Date: Fri, 23 Aug 2024 10:29:38 -0400 Subject: [PATCH] [1245]: Add reference images --- spot_wrapper/calibration/README.md | 12 ++++++++---- .../registration_qualitative_example.jpg | Bin 0 -> 47508 bytes .../calibration/spot_eye_in_hand_setup.jpg | Bin 0 -> 39733 bytes 3 files changed, 8 insertions(+), 4 deletions(-) create mode 100644 spot_wrapper/calibration/registration_qualitative_example.jpg create mode 100644 spot_wrapper/calibration/spot_eye_in_hand_setup.jpg diff --git a/spot_wrapper/calibration/README.md b/spot_wrapper/calibration/README.md index afa9c45..7b72b71 100644 --- a/spot_wrapper/calibration/README.md +++ b/spot_wrapper/calibration/README.md @@ -1,6 +1,11 @@ # Automatic Robotic Stereo Camera Calibration Utility with Charuco Target (a.k.a Multi-Stereo Madness) -TODO: placeholder for reference image not yet approved for release, hopefully added soon -![spot eye in hand cal](spot_eye_in_hand_cal_thumbnail.jpg) + +### Recommended Setup + +![spot eye in hand cal](spot_eye_in_hand_setup.jpg) + +### Reference Image +![side by side comparison](registration_qualitative_example.jpg) # Table of Contents @@ -78,8 +83,7 @@ Spot at a 45 degree angle, so that the bottom of the board is closer Spot than t the board should be at about a 45 degree angle from the board. The board's bottom should be about a meter away from the front of Spot while sitting. Nothing should be within a meter of the robot. -**See the reference image at the top of this README to see good board placement relative to Spot.** -TODO: reference image not yet approved +**See the first reference image at the top of this README to see good board placement relative to Spot.** When calibrating, Spot will stand up, ready its arm, lower its base slightly, and lower its arm slightly. 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