Hi, I have a stereo camera mounted in a UR5 and I want to detect the holes of a work piece and move the tcp near the holes. I detect the centre of the holes with opencv and but I don't know how to extract this info to 3D coordinates. I'm using opencv to solve this problem but I don't know how to solve it. Thanks.
Originally posted by rcj1986 on ROS Answers with karma: 121 on 2015-01-08
Post score: 0
If you're detecting the center of the hole in both images, you can draw a ray from each camera through the hole based on which pixel the hole corresponds to and the image distortion model. Then you can find where the two rays intersect to determine the 3D position of the hole. The image_geometry library has tools to help out with these types of problems.
Originally posted by Airuno2L with karma: 3460 on 2015-01-09
This answer was ACCEPTED on the original site
Post score: 2
Comment by rcj1986 on 2015-01-12:
Thanks, I'll take a look.