yeah going to test this out later myself. Wrote an interrupt routine that finds the center of a cylindrical(disk shaped really) boss using a 1D laser, so with this I should be able to find a frame from multiple cylinders.
I have a maybe related question though. I want to use this laser to find the tcp (not the orientation, just XYZ). So I can think of two ways to start this project. One, develop the math that calculates the convergence of the 4 vectors(Flange frame is known, and then magic, you get the tcp with an error). But I was wondering, since the control stores the measurement points for the 4pt routine for each tool, where are these stored? And is there a way to call the "calculation" after writing to the measurement points(assuming it is possible. I thought I found these once, but can't find them right now.