Skip to main content

Camera-local to robot transform

CameraLocalToRobotTransform converts camera-local detection positions into robot-local coordinates using the selected camera's mounting extrinsics.

Inputs​

  • detections: detection dictionaries. A transformable detection has a finite three-element position_3d.

Outputs​

  • robot_detections: a new list. Transformed detections retain the original value as position_camera and replace position_3d with the robot-local position. Entries without a valid position pass through unchanged.

When to use​

Use this after an operation that estimates positions in camera coordinates and before robot-relative or field-relative processing.

Configuration​

  • camera_bus_id: required camera bus ID used to load mounting extrinsics. It supports live updates.

Limitations​

The camera must have finite mounting extrinsics. The operation raises an error when the camera registry or calibration is unavailable.