From 158ed5ecf7b702232058aa3ad419365e1dd4df8a Mon Sep 17 00:00:00 2001 From: Satja Sivcev Date: Wed, 31 Jul 2024 23:08:20 +0200 Subject: [PATCH] Improve hand-eye transform documentation --- modules/zivid/_calibration/hand_eye.py | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) diff --git a/modules/zivid/_calibration/hand_eye.py b/modules/zivid/_calibration/hand_eye.py index 2162a344..8da341ad 100644 --- a/modules/zivid/_calibration/hand_eye.py +++ b/modules/zivid/_calibration/hand_eye.py @@ -109,7 +109,12 @@ def __str__(self): class HandEyeOutput: - """Class representing the result of a hand-eye calibration process.""" + """Class representing the result of a hand-eye calibration process. + + For eye-in-hand, the computed pose represents camera pose in robot end-effector frame. + + For eye-to-hand, the computed pose represents camera pose in robot base frame. + """ def __init__(self, impl): """Initialize HandEyeOutput wrapper. @@ -146,6 +151,8 @@ def transform(self): Returns: A 4x4 array representing a hand-eye transform + eye-in-hand: camera pose in robot end-effector frame + eye-to-hand: camera pose in robot base frame """ return self.__impl.transform() @@ -171,7 +178,7 @@ def calibrate_eye_in_hand(calibration_inputs): calibration_inputs: List of HandEyeInput Returns: - A HandEyeOutput instance containing the eye-in-hand transform + A HandEyeOutput instance containing the eye-in-hand transform (camera pose in robot end-effector frame) """ return HandEyeOutput( _zivid.calibration.calibrate_eye_in_hand( @@ -190,7 +197,7 @@ def calibrate_eye_to_hand(calibration_inputs): calibration_inputs: List of HandEyeInput Returns: - A HandEyeOutput instance containing the eye-to-hand transform + A HandEyeOutput instance containing the eye-to-hand transform (camera pose in robot base frame) """ return HandEyeOutput( _zivid.calibration.calibrate_eye_to_hand(