NxLib API > Commands > CalibrateHandEye

With this command you can calibrate the position of the camera with respect to a robot. The calibration routine currently supports two types of setups: either your camera is fixed with respect to the robot origin, or your camera mounted on the robot hand and is moving with the robot.

Fixed Setup

To calibrate a fixed camera you need to grab a calibration pattern with the robot, move the pattern with the robot and observe the pattern in these different poses with the camera. The exact position of the pattern on the robot hand does not need to be known, it will be calculated during calibration, along with the camera's pose relative to the robot origin.

Moving Camera

Similarly you can calibrate a moving camera on the robot hand. For this setup a calibration plate needs to be placed inside the robot's workspace, so that the camera can observe the calibration plate. Then you move the robot around and observe the pattern from different positions and angles. Again, the position of the calibration pattern does not need to be known and will be calculated during calibration, together with the camera's mounting position with respect to the robot hand.

See the hand-eye calibration how-to for an in-depth explanation of how this command works and the steps that are necessary to use it.

Note: The calibration data applied after the CalibrateHandEye command is not yet stored permanently on the camera! Use StoreCalibration to permanently store the link in the camera's eeprom.

Note: The calibration can be interrupted by the Break command.