I have a Keyence barcode scanner that can give me the coordinates of a detected barcode in pixels. I have a 6 DOF robot whose end effector pose I know at any given time. My ultimate goal is to place a new label on top of an existing label that is on a box. I am really looking for (x,y,z,theta) from the sensor and passing it on to the robot. I can work without having the Z values by incorporating sensor to know when to stop exploring in the Z.
I am figuring out how to calibrate this robot end effector to the barcode scanner. AFAIK, the scanner cannot detect a checkerboard pattern.
If I mount a barcode onto a sheet and attach it to the robot and note a set of (pixels,6D pose) readings, how would I figure out the 4x4 transform between the arm and the scanner?