pmCalibrate is an open source API for calculating the offset of a wrist mounted camera from the end effector of a robot arm. It utilizes the Park and Martin method for solving Ax=xB on the Euclidean group first published here.
Request Type: POST
Endpoint: http://park-martin-calibrate.herokuapp.com/calc
Data:
{
"Qee": [
[qx, qy, qz, qw, x, y, z],
[qx, qy, qz, qw, x, y, z],
...
[qx, qy, qz, qw, x, y, z]
],
"Qmarker": [
[qx, qy, qz, qw, x, y, z],
[qx, qy, qz, qw, x, y, z],
...
[qx, qy, qz, qw, x, y, z]
]
}Where: qx, qy, qz, qw are quaternian rotation values, and x, y, z are translation values.
Returns:
{
"Rx":[
[R11, R12, R13],
[R21, R22, R23],
[R31, R32, R33]
],
"t":[tx, ty, tz]
}import requests
import json
Qee =((0.504,-0.082,0.371,0.141,0.737,-0.124,0.649),
(0.511,-0.018,0.371,0.094,0.744,-0.083,0.656),
(0.485,-0.071,0.312,0.291,0.724,-0.302,0.547))
Qmarker = ((-0.079,0.038,0.362,0.373,0.648,-0.561,-0.355),
(-0.046,-0.016,0.360,0.335,0.669,-0.583,-0.315),
(-0.102,0.042,0.296,0.535,0.574,-0.413,-0.462))
response = requests.post('http://park-martin-calibrate.herokuapp.com/calc',
data=json.dumps({'Qee':Qee, 'Qmarker':Qmarker}))
responseObj = json.loads(response.text)
print responseObj['Rx']
print responseObj['t']