Part of calibration also involves capturing the tabletop plane relative to the camera. It can then be used to define a collision surface in MoveIt!.

Use SVD to capture plane equations. Write here the plane equations. Collect data from realsense. Perform the estimation of the frame.

Use optical center to recover a tabletop reference frame relative to the camera. Demonstrate recovery of tabletop-centric depth map. _Optional_: convert to point cloud and visualize.

Back – Main