collect_calibration_data

Calibration data collection utilities.

This module defines utilities for collecting camera-robot calibration datasets. It provides helpers for preparing calibration directories, acquiring synchronized image and robot TCP pose samples, saving calibration artifacts, and running interactive/manual collection loops with live board detection feedback. The module is designed to support reproducible hand-eye and camera calibration workflows.

Key functionalities include: - Creation and validation of calibration data directories. - Synchronized capture of camera images and robot TCP poses. - Persistent storage of image samples and pose metadata. - Camera intrinsics export for calibration session reproducibility. - Interactive and manual data collection loops. - Live ChArUco detection visualization during sample acquisition.

robotblockset.cameras.collect_calibration_data.create_data_dir(calibration_dir: str | None = None) → str[source]

Create an empty calibration data directory.

Ensures that calibration_dir exists and has a data subfolder where new calibration samples can be stored.

Parameters:

calibration_dir (str, optional) – Calibration directory to use. If None, a new directory is created in the current working directory.

Returns:

Path to the data subfolder of the calibration directory.

Return type:

str

robotblockset.cameras.collect_calibration_data.save_calibration_sample(sample_index: int, robot: robot, camera: RGBCamera, data_dir: str) → Tuple[ndarray, ndarray][source]

Save one calibration sample.

A calibration sample consists of an image and the robot TCP pose.

Parameters:

  • sample_index (int) – Sample index used in the saved file names.

  • robot (robot) – Robot used to collect the data.

  • camera (RGBCamera) – Camera used to collect the data.

  • data_dir (str) – Directory where the sample is saved.

Returns:

Saved TCP pose and captured image.

Return type:

Tuple[HomogeneousMatrixType, OpenCVIntImageType]

robotblockset.cameras.collect_calibration_data.prepare_collect_calibration_data(camera: RGBCamera, calibration_dir: str | None) → None[source]

Prepare hand-eye calibration data collection.

Parameters:

  • camera (RGBCamera) – Camera to use for collecting the data.

  • calibration_dir (str, optional) – Directory where calibration data will be stored. If None, a new directory is created.

robotblockset.cameras.collect_calibration_data.manually_collect_calibration_data(robot: robot, camera: RGBCamera, calibration_dir: str | None) → None[source]

Collect calibration data samples for hand-eye calibration.

Parameters:

  • robot (robot) – the robot to use for collecting the data.

  • camera (RGBCamera) – the camera to use for collecting the data.

  • calibration_dir (str, optional) – directory to save the calibration data to, if None a directory will be created

Functions

create_data_dir([calibration_dir])

Create an empty calibration data directory.

manually_collect_calibration_data(robot, ...)

Collect calibration data samples for hand-eye calibration.

prepare_collect_calibration_data(camera, ...)

Prepare hand-eye calibration data collection.

save_calibration_sample(sample_index, robot, ...)

Save one calibration sample.