Arm Camera Calibration
The Dobot Magician does not come with a camera, and the one Dobot sold is too expensive. To reduce the cost, I synchronized the camera with the arm via opencv. The followings are the steps to calibrate,
- Use chessboard to calibrate the instrinsic properties of the camera used.
- Undistort the curved camera view.
- Imagine mapping the input from the screen to the motion of the arm is an homography problem, to reduce 2d-to-3d problem into 2d-2d problem, calibrate depth first.
- Then \(\lambda \mathrm{x}^\prime = \mathbf{H}\mathrm{x}\), we need to know \(\mathbf{H}\), so we need 9 pairs of correspondents \(\{\mathrm{x}^\prime,\mathrm{x}\}\).
After the calibration, now if you click on the screen with the mouse, the yellow sticker will follow accurately.