I'm using an R30iB M-10 with a 2D vision and was wondering if anyone could tell just what the purpose is for the application frame?
What is 2D iRVison application frame's purpose
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tre4175 -
January 24, 2018 at 10:55 PM -
Thread is marked as Resolved.
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You need a frame to calibrate the camera in.
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The controller needs this frame and the grid calibration to correlate the image with the object´s position
From a 2D image alone is IMPOSSIBLE to calculate the object´s position
Extra information is required about the orientation, scale and elevationIt is exactly the same information that is included for example in paper maps
Paper maps feature either a scale or grid to determine distances
They also feature a cardinal rose or north arrow to establish orientation
Finally, elevation lines can give you information about the elevation of the terrainThe object´s position (&orientation) relative to the robot is compound from:
The camera´s position (&orientation) relative to the robot & the object's position (&orientation) relative to the cameraBy teaching a USER FRAME on the CALIBRATED GRID and taking a picture,
the controller can compute the location of the camera relative to the robot;
It stores the scale factor to compute distances;
it also stores the orientation reference.I am not sure to what extent the calibration also compensates the image distortion caused by the lens
Once calibration is completed the controller calculates the object position:
The position(&orientation) of the camera relative to the robot is know
The position (& orientation) of the object relative to the camera CAN BE DERIVED now from the image