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4.6 Target Pose and Camera-to-Target Calibration

This job is used for the target:pose and calibration:target commands of the Generic Robot Vision Interface. It is typically used when the camera and robot are mounted on a mobile platform: the robot detects the calibration target to correct its position relative to a machine or shelf, or to calibrate the camera-to-target relation without creating a new persisted calibration file.

In case of camera and robot mounted on a mobile platform, load the template Correct position via calibration plate.

Adjust the focus and brightness of the camera to get a sharp and well-illuminated image. By default, Trigger Mode is set to On and Trigger Source to Software. Adjust Trigger Mode to Off and switch to Run Mode in order to adjust the camera image. Afterward, change the setting back to Software trigger. If working with color images, make sure that Create BGRA Image is active at the input camera (only relevant if working with URCap).

level2_landing

Make sure that Device Robot Vision is part of the uniVision job. Optionally, link any job result as Additional Value in Device Robot Vision (Result List → 0) to identify the current position (e.g. via linking a code result). Make sure that Shape Model of result 0 in the Result List is set to a valid value (e.g. 0) and that Result True Count is linked with the corresponding value (e.g. Result True Count of the code module).

Save the job in the device projects folder on the Machine Vision Device so that the robot can load it later.

Command exchange

sequenceDiagram participant Robot participant Server as wenglor robot server Robot->>Server: job:change[find_target.u3p]; Server-->>Robot: 0 alt get target pose Robot->>Server: target:pose[calibration_case, calibration_target, pose_information]; Server-->>Robot: target_pose else calibrate camera to target Robot->>Server: calibration:target[calibration_case, calibration_target]; Server-->>Robot: 0 end
  • target:pose[...] returns the 3D pose of the calibration target (target_pose), which the robot typically assigns to a reference frame or coordinate offset. It also fills the additional value internally, accessible via value:get[0].
  • calibration:target[...] recalculates the camera-to-target relation and caches it internally in the camera, without writing a new calibration file to the Machine Vision Device.

See 4.7 Generic Robot Vision Interface for the full command reference.