Robot and Camera Calibration

code base For eye-to-hand calibration,

• attach the calibration target rigidly to the end-effector of the robot.
• Move the robot end-effector to different poses and verify if the detection is stable in rviz
  • once happy with the detection of the calibration target, store that poses by pressing enter
• After collecting ~10 poses. stop the data collection script and run the calibration script to compute the rigid body transformation using 3 different optimizers along with a RANSAC scheme

Notes:

• Both eye-to-hand and eye-in-hand calibration are solved through a AX = XB problem or as AY=XB problem
• In AX = XB, A,B are relative transformation between end-effector and calibration poses at different time steps respectively and X is the rigid body transform that we are looking for.
• In AY = XB formulation A,B are absolute rigid body transforms of the calibration target and the ee. X is the rigid body transform between the camera and the robot bases and Y is the transform between robot EE and target in eye-to-hand case and between the robot base and calibration target in the eye-in-hand case