rw_calibration package

Top-level package for RW Calibration.

Submodules

rw_calibration.cli module

Console script for rw_calibration.

rw_calibration.rw_calibration module

Main module.

rw_calibration.rw_calibration.calibrate(points_G, points_R)

This function performs the actual Robot to World Calibration. It computes every possibile combination between three non-collinear points, computes the correspoding rototranslator and then average the mean rototranslator. Everything is expressed in mm.

Arguments:

points_G (numpy.array) – Points in World Coordinates points_R (numpy.array) – Points in Robot Coordinates

Raises:

Exception: Number of points in Robot and World Coordinates file is not correspoding.

Returns:

[dict] – Dictionary containing the computed rototranslator and some informations about the error (mean and standard deviation).

rw_calibration.rw_calibration.read_data(filepath, sep=' ')

This function reads file containing Points Coordinates

Arguments:

filepath (str) – Path to the file to be read

Keyword Arguments:

sep (str) – Separator for columns in file (default: ” “)

Returns:

(list) – List of points read from input file, in the format [x,y,z]

rw_calibration.rw_calibration.rototranslation(points)

This function generates a rototranslator starting from three non-collinear points

Arguments:

points (numpy.array) – Three non-collinear points in a 3x3 numpy array [x,y,z]

Returns:

[numpy.array] – Rototranslation matrix (4x4 numpy array)