mecheye.area_scan_3d_camera.HandEyeCalibration

class mecheye.area_scan_3d_camera.HandEyeCalibration(*args)

SDK HandEyeCalibration object, serialized for regular and free-threaded Python.

initialize_calibration(camera, mountingMode, boardModel)

Initialize calibration for a connected camera, mounting mode, and board model.

Use the CameraMountingMode_* and CalibrationBoardModel_* class constants. :return: ErrorStatus.

add_pose_and_detect(camera, poseData, color2DImage, timeoutMs=10000)

Record a robot pose, capture an image, and detect the calibration board.

poseData is a HandEyeTransformation with translation in millimeters; color2DImage is an output Color2DImage. timeoutMs is measured in milliseconds. :return: ErrorStatus.

calculate_extrinsics(camera, cameraToBase)

Fill cameraToBase with the calibrated HandEyeTransformation.

The output depends on the mounting mode chosen at initialization. Its translation values use meters. :return: ErrorStatus.

test_recognition(camera, testResult, timeoutMs=20000)

Capture and annotate board recognition in the output Color2DImage.

timeoutMs is measured in milliseconds. :return: ErrorStatus.

extract_current_image_first_corner(camera, corner, timeoutMs=20000)

Fill corner with the first detected board corner as a PointXYZ.

timeoutMs is measured in milliseconds. :return: ErrorStatus.

CalibrationBoardModel_BDB_5 = 0

CalibrationBoardModel_BDB_6 = 1

CalibrationBoardModel_BDB_7 = 2

CalibrationBoardModel_CGB_20 = 7

CalibrationBoardModel_CGB_35 = 8

CalibrationBoardModel_CGB_50 = 9

CalibrationBoardModel_OCB_10 = 4

CalibrationBoardModel_OCB_15 = 5

CalibrationBoardModel_OCB_20 = 6

CalibrationBoardModel_OCB_5 = 3

CameraMountingMode_EyeInHand = 0

CameraMountingMode_EyeToHand = 1