Open wisechengyi opened 7 years ago
You're definitely right. If there were some way to "Draw" the boundaries by dragging the robot arm around an area, then having the points be generated from those boundaries, i think that would be ideal.
That would also help the eventual future where multiple robot arm models will work with UCS
Currently the ranges are hardcoded https://github.com/apockill/uArmCreatorStudio/blob/47a8acd039897ac4eec353996975d312b8100305/CalibrationsGUI.py#L800-L818, but in practice, the real range also depends on how camera is mounted or zoomed in. For example, the effective range my camera can see for x axis is (-10, 10) whereas it's hardcoded (-20, 20). Hence I would like to propose to collect (x,y,z) at the 4 corners (mostly x and y) in order to determine the range and how fine-grained the calibration should be.
Example partial diff. Actual values should come from user assistance. Also
append
is used instead of+=
for performance reasons because+=
is making a new array on every use.