calibration range

[wisechengyi]

Currently the ranges are hardcoded

uArmCreatorStudio/CalibrationsGUI.py

Lines 800 to 818 in 47a8acd

	zTest = int(round(zLower, 0)) # Since range requires an integer, round zLower just for this case
	for x in range( -20, 20, 4): testCoords += [[x, 15, 11]] # Center of XYZ grid
	for y in range( 8, 24, 4): testCoords += [[ 0, y, 11]]
	for z in range(zTest, 19, 1): testCoords += [[ 0, 15, z]]
	# for x in range( -20, 20, 1): testCoords += [[x, 15, zTest]] # Center of XY, Bottom z
	# for y in range( 8, 25, 1): testCoords += [[ 0, y, zTest]]
	# for z in range(zTest, 25): testCoords += [[ 0, 15, z]]
	for x in range( -20, 20, 4): testCoords += [[x, 15, 17]] # Center of XY, top z
	for y in range( 12, 24, 4): testCoords += [[ 0, y, 17]]
	direction = int(1)
	for y in range(12, 25, 2):
	for x in range(-20 * direction, 20 * direction, 2 * direction):
	testCoords += [[x, y, zTest]]
	direction *= -1

, but in practice, the real range also depends on how camera is mounted or zoomed in. For example, the effective range my camera can see for x axis is (-10, 10) whereas it's hardcoded (-20, 20). Hence I would like to propose to collect (x,y,z) at the 4 corners (mostly x and y) in order to determine the range and how fine-grained the calibration should be.

Example partial diff. Actual values should come from user assistance. Also append is used instead of += for performance reasons because += is making a new array on every use.

(venv)[tw-mbp-yic uArmCreatorStudio (master)]$ git diff
diff --git a/CalibrationsGUI.py b/CalibrationsGUI.py
index d50a6d3..97e3328 100644
--- a/CalibrationsGUI.py
+++ b/CalibrationsGUI.py
@@ -798,24 +798,22 @@ class CWPage5(QtWidgets.QWizardPage):
 
         # Test the z on 3 xy points
         zTest = int(round(zLower, 0))  # Since range requires an integer, round zLower just for this case
-        for x in range(  -20, 20, 4): testCoords += [[x,  15,    11]]  # Center of XYZ grid
-        for y in range(    8, 24, 4): testCoords += [[ 0,  y,    11]]
-        for z in range(zTest, 19, 1): testCoords += [[ 0, 15,     z]]
+        for x in range(  -10, 10, 1): testCoords.append([x,  15,    11])  # Center of XYZ grid
+        for y in range(    8, 24, 4): testCoords.append([ 0,  y,    11])
+        for z in range(zTest, 19, 1): testCoords.append([ 0, 15,     z])
 
         # for x in range(  -20, 20, 1): testCoords += [[x,  15, zTest]]  # Center of XY, Bottom z
         # for y in range(    8, 25, 1): testCoords += [[ 0,  y, zTest]]
         # for z in range(zTest, 25): testCoords += [[ 0, 15,     z]]
 
-        for x in range(  -20, 20, 4): testCoords += [[x,  15,    17]]  # Center of XY, top z
-        for y in range(   12, 24, 4): testCoords += [[ 0,  y,    17]]
+        for x in range(  -10, 10, 1): testCoords.append([x,  15,    17])  # Center of XY, top z
+        for y in range(   12, 24, 4): testCoords.append([ 0,  y,    17])
 
-
-
-        direction  = int(1)
+        direction = int(1)
         for y in range(12, 25, 2):
-            for x in range(-20 * direction, 20 * direction, 2 * direction):
-                testCoords += [[x, y, zTest]]
-            direction *= -1
+          for x in range(-10 * direction, 10 * direction, 2 * direction):
+            testCoords.append([x, y, zTest])
+          direction *= -1

[apockill]

You're definitely right. If there were some way to "Draw" the boundaries by dragging the robot arm around an area, then having the points be generated from those boundaries, i think that would be ideal.

That would also help the eventual future where multiple robot arm models will work with UCS