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Initial guess of the camera pose as Transformation. The pose must be given relative to the robot hand (for a moving camera setup), or relative to the robot origin (for the fixed camera setup).

Format

Object/Transformation

The Transformation between camera coordinates and hand/workspace coordinates.


Reference system:

Robot hand system or robot origin, depending on Setup


Target system:

Camera coordinates

Note: You don't need to specify a guess for the transformation here, but doing so will speed up the calibration process.