Center of stl vs. camera frame

[christinaionescu]

Hi!

I successfully performed the hand-eye-calibration and got the transform from eef to camera frame. Now I want to integrate the stl of the camera into moveit so it is considered while path planning. But as I can see the frame of the stl (lying in the center of zivid) is at another position than the camera frame (considered in hand-eye-calibration). Where can I find the according translation so i can place it correctly according to the eef?

Thank you!
Christina

[SatjaSivcev]

Hi Christina,

I understand the problem. We will look into it.

Where did you get the STL file from?
Is it Zivid One+ or Zivid Two camera?

[christinaionescu]

Hi :)
I got it from here: https://www.zivid.com/downloads It is Zivid Two.
Thank you!

[christinaionescu]

Hi I have a follow-up question. The transformation that we get from the ur calibration is the transformation from the point cloud coordinate system (=zivid_optical_frame) to the eef coordinate system, correct?

[SatjaSivcev]

I want to inform you that we are working on modifying the STL files by moving the CAD file origin to the optical center of the camera.

The output of the eye-in-hand calibration is end-effector-to-camera transform, in other words, the pose of the camera relative to the end-effector frame.

These articles should be useful for more information.

Camera coordinate system:
https://support.zivid.com/latest/reference-articles/camera-coordinate-system.html

Hand-Eye - problem and solution:
https://support.zivid.com/latest/academy/applications/hand-eye/hand-eye-calibration-problem.html
https://support.zivid.com/latest/academy/applications/hand-eye/hand-eye-calibration-solution.html

[SatjaSivcev]

@christinaionescu, can you please email us at [email protected] so we can send you the STL file to test it out.