Definition of Halcon hand eye calibration

In some cases, we see the camera fixed in one place , Then take pictures to find the target , Control the manipulator to grasp , This is easy to understand . We also call it eye-to-hand .
In another case, the camera is fixed on the manipulator , In this case, the calibration process is actually the same as that of the separation of camera and manipulator , Because when the camera takes pictures , The manipulator will move to the position when the camera is calibrated , Then take pictures with the camera , Get the coordinates of the target , Then control the manipulator , Therefore, many simple hand eye systems with cameras fixed at the end use this method , The calibration process can be treated the same as the calibration of hand eye separation system . We also call it eye-in-hand .