Captured calibration images (dot pattern)

User documentation
11/08/2012

Corresponding files contains same number in file name.
  • calibrationImages.zip
    images captured by Xtion mounted on the second arm and corresponding robot position in joint coordinates
  • dotMatrix.zip
    position of the dots (calibration target)
    Format of each line in the CSV file (delimiter is tab) is :
    ROW COL X Y AREA
    where:
    ROW is row in the dot matrix
    COL is column in the dot matrix
    X is row in the image (counting from 0 from the top)
    Y is column in the image (counting from 0 from right)
    AREA is area of the dot [pixels squared]
    
    Calibration target contains three larger dots (forming char 'L') the position of these dots in calibration target is:
    larger arm: [2,0]
    center: [0,0]
    smaller arm: [0,1]
    
  • cart.zip
    csv files containing Cartesian position of the link where Xtion is mounted with respect to the base link of the arm ("r2_link_1" in model)
    Format of the csv file:
    pos_x;pos_y;pos_z;rot_x;rot_y;rot_z;rot_w;
    0;0;0;0;0;0;1;
    where 'pos_i' mean position of the link and 'rot_i' mean rotation (quaternion)  
    
  • dot2img.m
    simple matlab script used to plot detected points (dotMatrix.zip) into images (calibrationImages.zip)

Files

DotMatrix.zip (104 KB) Vladimir Petrik, 11/15/2012 11:27

cart.zip (5.37 KB) Vladimir Petrik, 11/16/2012 10:34

dot2img.m (1003 Bytes) Vladimir Petrik, 11/16/2012 10:34

images.zip (8.36 MB) Vladimir Petrik, 11/29/2012 12:20