pacogarcia3/hta0-horizontal-robot-arm

Horizontal Robot Arm HTA0

hta0-horizontal-robot-arm's Issues

homography transformation

dear,
Can you consider that below theory in finding X,Y,Z?
http://www.corrmap.com/features/homography_transformation.php

Find location of an object in World coordinate in millimeters using Camera Calibration

I am using a standard 640x480 webcam. I have done Camera calibration in OpenCV in Python 3 (using this Code). Now I have Intrinsic Parameters, Extrinsic Parameters, and Distortion Coefficients.
How can I find the location of a point in world-coordinates in a plane in millimeters from my scene image? I have attached the webcam above a table horizontally and on the table, a Robotic arm is placed. Using the camera I found the centroid of an object. Now, using Camera Matrix my goal is to convert the location of that object (e.g. 300x200 pixels) to the millimeter units so that I can give the millimeters to the robotic arm to pick that object.
I checked the function calculate_XYZ(self,u,v) of your code in camera_realworldxyz.py

hta0-horizontal-robot-arm/camera_realworldxyz.py

Line 105 in 9121082

def calculate_XYZ(self,u,v):

But I don't understand how can I use my calculated intrinsic and extrinsic parameters in your calculate_XYZ(self,u,v) function
Please help me how can I do this. Thanks a lot!

This is my setup: