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Here we describe the calibration process of the tool heads. This is a crucial step to ensure the correct tracking of the inserted tool. This procedure needs to be done every time a tool is changed.


Step-by-step

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Open the Toolhead pane and select the tool you want to calibrate from the list of available tool heads:

a - rough projection of the selected tool head

b - library of selectable tool heads models

c - current selected tool head


If you want to add new tools follow the instructions in the section contributing: add a new tool.

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Once you have adjusted the camera to have the tool occupying the first half of the screen, you can input the initial pose of the tool head via the sliders (q r p l o n) first and then refine it (f):

d - machine-refined tool head position and orientation

e - confirm the pose

f - stop the refiner

g - reload the latest saved pose

h - hide the 3D model silhouette widget

i - reset the pose to the default value

q r p - sliders to input the 3D model's location

l o n - sliders to input the 3D model's rotation

Use the sliders to estimate an initial position. It does not need to be precise, but it should be as close as possible to the real position and orientation of the tool head. Once you are satisfied, hit the button Save pose.

Now you can refine the pose by hitting the button Start refine. The model will turn blue and try to optimize your initial position. Move the tool around to help the system refine the pose.

Once you are satisfied, hit the button Stop refine and Save pose, and Hide silhouette.


Your tool head is not calibrated.

Troubleshooting blades with symbols

Especially blades, like large circular saws, lack often geometric features to help the tool calibration. To help the system, you can add a logos or recognizable symbols to the blade (in this case the EPFL logo). The system will use these symbols to calibrate the tool head.