I’m looking for anyone that has experience in doing hand eye calibration with a UR robot and HACLON. Right now we are able to go to 15 different poses and recording images. However it seems that our calibration is way off. My suspicion is that pose representation that UR uses, axis-angle, is not useful for this calibration and should be converted to something else. HALCON function create_pose uses either ‘gba’, ‘abg’, ‘rodriguez’. create_pose [HALCON Operator Reference / Version 12.0.2]
Any help is greatly appreciated?
axis-angle representation is the same as rodriguez rotation, so if you’re trying to represent UR rotations in HALCON, you should pass “rodriguez” to “OrderOfRotation”. I’m afraid I’ve no experience in HALCON, but rodriguez is the rotation representation you’re looking for.
Also note that (according to the documentation that you linked) the Rodriguez vectors used by HALCON are not quite the same as the vectors used by UR: where UR uses the rotation angle for the length of the vector, HALCON uses the tangent of half the rotation angle. So you might need to do some scaling to convert between them.