[dancrissco]

  inspection station flange.rdk (Size: 7.26 MB / Downloads: 111)
   
I have made a program to do inspection using machine learning.
I have two classes as Flange Accept and Flange Reject.
I get the x,y coordiantes of the bounding boxes from the json file.
I would like to convert these x,y coordiantes to the robot coordinates to be able to pick up and reject the failing parts. Code is attached. Kindly advise the path.

[Albert]

Is your camera calibrated (intrinsic calibration)? If so, I understand you can get XY coordinates in MM from the camera from the origin of your table.

Then you can use a reference target at the same origin location (you can teach this target using the desired orientation) and offset this target using pose pre-multiplications.

Example:

Code:

pick_pose = transl(x_camera_mm, y_camera_mm, 0) * pick_pose_origin
pick_pose_approach = transl(0,0, approach_dist_mm) * pick_pose

[dancrissco]

Thanks Albert. Yes. I will get the calibration done now and work on the project.
Very much appreciate the response.
Regards

Daniel