ece4560:visman:04tabletop
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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.
ece4560/visman/04tabletop.1633794506.txt.gz · Last modified: 2024/08/20 21:38 (external edit)