Eye in Hand标定尝试

1. 红色杯子高度：104.5cm
2. 像素坐标：x=804+y=312
3. 相机坐标系坐标：[-0.1802; -0.2201; 1.0450]
4. usb甜甜圈相机标定：
5. ('D = ', [-0.49126793523936385, 0.3586080405484027, -0.006800162400773604, 0.006074476133972186, 0.0])
   ('K = ', [850.4802167876728, 0.0, 356.25308103153134, 0.0, 855.5712968828606, 280.351516162983, 0.0, 0.0, 1.0])
   ('R = ', [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0])
   ('P = ', [785.1566772460938, 0.0, 364.58510464997016, 0.0, 0.0, 820.5774536132812, 281.98299130333, 0.0, 0.0, 0.0, 1.0, 0.0])
   None
   oST version 5.0 parameters

[image]

width
640

height
480

[narrow_stereo]

camera matrix
850.480217 0.000000 356.253081
0.000000 855.571297 280.351516
0.000000 0.000000 1.000000

distortion
-0.491268 0.358608 -0.006800 0.006074 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
785.156677 0.000000 364.585105 0.000000
0.000000 820.577454 281.982991 0.000000
0.000000 0.000000 1.000000 0.000000

('D = ', [-0.5027542215936542, 0.16691349483334314, 0.01905169872064191, -0.002295024838698373, 0.0])
('K = ', [848.9358129779117, 0.0, 351.5278399786143, 0.0, 836.86609876628, 220.7285181294242, 0.0, 0.0, 1.0])
('R = ', [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0])
('P = ', [779.9030151367188, 0.0, 356.42926517131855, 0.0, 0.0, 801.2872924804688, 223.57905809862132, 0.0, 0.0, 0.0, 1.0, 0.0])
None
oST version 5.0 parameters

[image]

width
640

height
480

[narrow_stereo]

camera matrix
848.935813 0.000000 351.527840
0.000000 836.866099 220.728518
0.000000 0.000000 1.000000

distortion
-0.502754 0.166913 0.019052 -0.002295 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
779.903015 0.000000 356.429265 0.000000
0.000000 801.287292 223.579058 0.000000
0.000000 0.000000 1.000000 0.000000

TTQ1
('D = ', [-0.4136214485455774, -5.467644157638073, -0.040601686287216776, -0.034847360890826226, 0.0])
('K = ', [2806.686808053052, 0.0, 435.43379469832774, 0.0, 2679.7974631649595, 608.972969138087, 0.0, 0.0, 1.0])
('R = ', [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0])
('P = ', [8673.32421875, 0.0, 1336.9048642722191, 0.0, 0.0, 2676.24462890625, 608.5254011483921, 0.0, 0.0, 0.0, 1.0, 0.0])
None
oST version 5.0 parameters

[image]

width
1280

height
720

[narrow_stereo]

camera matrix
2806.686808 0.000000 435.433795
0.000000 2679.797463 608.972969
0.000000 0.000000 1.000000

distortion
-0.413621 -5.467644 -0.040602 -0.034847 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
8673.324219 0.000000 1336.904864 0.000000
0.000000 2676.244629 608.525401 0.000000
0.000000 0.000000 1.000000 0.000000
TTQ 1第二次标定
D = [-0.4271036058103654, 0.11685126127218241, 0.002315115925478811, 0.003511123825308416, 0.0]
K = [1773.6789613734386, 0.0, 354.07230874790736, 0.0, 1775.0690098714908, 282.04843713733914, 0.0, 0.0, 1.0]
R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P = [1588.38427734375, 0.0, 323.45788630642346, 0.0, 0.0, 1738.9110107421875, 279.77180855733604, 0.0, 0.0, 0.0, 1.0, 0.0]
None
oST version 5.0 parameters

[image]

width
1280

height
720

[narrow_stereo]

camera matrix
1773.678961 0.000000 354.072309
0.000000 1775.069010 282.048437
0.000000 0.000000 1.000000

distortion
-0.427104 0.116851 0.002315 0.003511 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
1588.384277 0.000000 323.457886 0.000000
0.000000 1738.911011 279.771809 0.000000
0.000000 0.000000 1.000000 0.000000

小摄像头

'D = ', [0.022369187382623695, -0.023146748080272478, -0.005166729302801058, -0.002641094840666461, 0.0])
('K = ', [766.9482683357734, 0.0, 618.8504784417597, 0.0, 762.2520183498207, 344.4924674834954, 0.0, 0.0, 1.0])
('R = ', [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0])
('P = ', [771.5419311523438, 0.0, 613.861292010366, 0.0, 0.0, 769.0662231445312, 340.39300549083964, 0.0, 0.0, 0.0, 1.0, 0.0])
None
oST version 5.0 parameters

[image]

width
1280

height
720

[narrow_stereo]

camera matrix
766.948268 0.000000 618.850478
0.000000 762.252018 344.492467
0.000000 0.000000 1.000000

distortion
0.022369 -0.023147 -0.005167 -0.002641 0.000000

rectification
1.000000 0.000000 0.000000
0.000000 1.000000 0.000000
0.000000 0.000000 1.000000

projection
771.541931 0.000000 613.861292 0.000000
0.000000 769.066223 340.393005 0.000000
0.000000 0.000000 1.000000 0.000000

机械臂位姿

header:
seq: 255
stamp:
secs: 1570710105
nsecs: 50699251
frame_id: “j2n6s300_link_base”
pose:
position:
x: -0.00532354973257
y: -0.414391219616
z: 0.42000669241
orientation:
x: 0.997896075249
y: -0.0179712884128
z: -0.046117413789
w: 0.0418766997755
关节角：
joint1: 259.695617676
joint2: 194.613967896
joint3: 100.481056213
joint4: 695.87878418
joint5: 98.9069595337
joint6: -403.320587158

四个关键点机械臂坐标

1. 右下：
   Tool_Pose
   header:
   seq: 197
   stamp:
   secs: 1570714485
   nsecs: 558707357
   frame_id: “j2n6s300_link_base”
   pose:
   position:
   x: -0.282927155495 //-0.275
   y: -0.268715023994 // -0.28
   z: 0.0509950555861
   orientation:
   x: -0.923714339733
   y: 0.374169945717
   z: 0.00178346037865
   w: 0.082130946219

Joint
joint1: 305.734588623
joint2: 231.849411011
joint3: 71.2276382446
joint4: 716.600280762
joint5: 33.1238632202
joint6: -381.462493896

2. 右上
   Tool_Pose:
   header:
   seq: 5165
   stamp:
   secs: 1570714982
   nsecs: 359797105
   frame_id: “j2n6s300_link_base”
   pose:
   position:
   x: -0.288150310516
   y: -0.774669289589 //-0.73
   z: 0.118244349957
   orientation:
   x: 0.705386579037
   y: -0.00484282523394
   z: 0.0696112066507
   w: 0.705379724503

Joint:
joint1: 303.560272217
joint2: 266.99911499
joint3: 150.225875854
joint4: 586.228271484
joint5: 53.7403373718
joint6: -251.19871521
joint7: 0.0

3. 左上
   Tool_Pose:
   header:
   seq: 6089
   stamp:
   secs: 1570715845
   nsecs: 306855441
   frame_id: “j2n6s300_link_base”
   pose:
   position:
   x: 0.382440835238
   y: -0.782320141792
   z: 0.129342958331
   orientation:
   x: 0.699344098568
   y: 0.118974909186
   z: 0.195588350296
   w: 0.677132129669
   Joint:
   joint1: 251.048828125
   joint2: 269.553527832
   joint3: 150.536621094
   joint4: 545.29486084
   joint5: 34.0490036011
   joint6: -207.373718262

4. 左下
   Tool_Pose：
   header:
   seq: 8516
   stamp:
   secs: 1570716088
   nsecs: 7105469
   frame_id: “j2n6s300_link_base”
   pose:
   position:
   x: 0.379597246647 //测量0.375
   y: -0.280472844839 //-0.280
   z: 0.0544165410101
   orientation:
   x: -0.821970164776
   y: -0.565630912781
   z: -0.0656164288521
   w: 0.0110161192715

Joint:
joint1: 212.587020874
joint2: 233.807037354
joint3: 86.6373062134
joint4: 696.347106934
joint5: 36.9383506775
joint6: -345.835357666

End Effector竖直向下四元数姿态

q = (0 , 1, 0 ,0);

像素坐标

位置	坐标	机械臂坐标
右下	（962,617）	（-0.285,-0.283）
右上	（962,87）	(-0.285, -0.728)
左上	（195,87）	(0.374, -0.728)
左下	（195,617）	(0.374, -0.283)

△u=962-195=767；
△v=530;
△x=0.659；
△y=0.445；
du=0.00085919；
dv=0.00083962；
设u₀=195; v₀=87;
x₀=0.374; y₀=-0.728;
区域内一个像素坐标（u,v）；
转换成机械臂下的坐标（x，y）；
x = -(u-u₀)*du+x₀;
y= (v-v₀)*dv+y₀;

机械臂问题

输入的指令跟机械臂反馈的tool pose依旧有3mm左右的误差。

总结

2019/10/10-2019/10/11 这两天尝试usb cam 与Kinova机械臂的眼在手上的标定尝试。通过对比像素中的关键点u,v的差异对比机械臂实际运动的差异，得出对应关系。但之前没有考虑到Height的影响，估验证时效果不好，以为出了差错。其实是，pixel对应机械臂的位移，与height有关。故准备进行第二次手眼标定！！