A simple package for easy Hand-Eye Calibration using OpenCV. Currently, supports UR and ABB robots.
# Clone from GitHub:
git clone https://github.com/ArdooTala/Hand-Eye-Calibration.git
cd .\Hand-Eye-Calibration\
# Recommended: make and activate a virtual env
py -m venv .venv
.\venv\Scripts\activate
# Install the Library and the dependencies
py -m pip install .
Optionally, to install the GUI:
cd .\src\gui\
py -m pip install .
# Clone from GitHub:
git clone https://github.com/ArdooTala/Hand-Eye-Calibration.git
cd Hand-Eye-Calibration
# Recommended: make and activate a virtual env:
python -m venv .venv
./venv/Scripts/activate
# Install the Library and the dependencies
pip install .
Optionally, to install the GUI:
cd src/gui/
pip install .
Execute the following command from commandline (with the virtual env activated, if it applies):
HECal
Or alternatively, directly execute the hec_gui
package to run the GUI app.
python -m hec_gui
python -m hand_eye_calibration PATH/TO/IMAGES/DIR PATH/TO/ROBOT/PROGRAM
$ python -m hand_eye_calibration -h
usage: __main__.py [-h] [-o OUTPUT] [-f EXTENSION] [-r {UR,ABB,KUKA}] [-v] images program
positional arguments:
images Path to images folder
program Path to the Robot Program
options:
-h, --help show this help message and exit
-o OUTPUT, --output OUTPUT
Path to write the calibration result
-b BOARD, --board BOARD
Path to charucoboard yaml file
-f EXTENSION, --extension EXTENSION
images format
-r {UR,ABB,KUKA}, --robot {UR,ABB,KUKA}
Robot manufacturer
-v, --verbose increase output verbosity
manufacturer: ABB
length_unit: MILLIMETER
rotation_system: QUATERNION
move_command_regex: MoveJ \[\[(-?\d*[.]?\d+),(-?\d*[.]?\d*),(-?\d*[.]?\d*)\],\[(-?\d*[.]?\d*),(-?\d*[.]?\d*),(-?\d*[.]?\d*),(-?\d*[.]?\d*)\],.*?;
num_X: 9
num_Y: 6
len_squares: 0.04
len_markers: 0.035
markers_dictionary: 2