# Transforms in Hand-eye Calibration Result

Besides getting transforms from Space Tree, the following transforms are available in hand-eye calibration result.

## General Transforms

These transforms are valid both in stationary and moving camera configurations.

Home2DFromStage2D

This is the actual physical pose of the motion stage in Home2D. It defines the relationship between Home2D and Stage2D and is represented by a 2D rigid transform.

In the stationary camera configuration, this is the motion of the motion stage of the object. In the moving camera configuration, this is the motion of the motion stage onto which the cameras are attached – the object platform is stationary in this case.

UncorrectedHome2DFromStage2D

This is the commanded pose of the motion stage.

Due to systematic errors in the motion stage, the commanded pose of the motion stage may not match the actual physical pose of the motion stage in Home2D (that is, Home2DFromStage2D). UncorrectedHome2DFromStage2D is used to describe the commanded pose of the motion stage because it represents your best guess of the pose of the motion stage prior to calibration. UncorrectedHome2D has its X and Y axes along the X and Y axes of stage, the origin of UncorrectedHome2D is the same as Home2D.

Raw2DFromCamera2D

The transform that maps coordinates in the camera coordinate system (Camera2D) to the image coordinate system (Raw2D). This is independent of the motion stage pose.

Raw2DFromHome2D

The mapping between Raw2D and Home2D. In the moving camera configuration, this transform is dependent on the actual UncorrectedHome2DFromStage2D pose.

## Stationary Camera Configuration transforms

These transforms are valid in the stationary camera configuration only.

Home2DFromStationaryCamera2D

This is the placement pose of the camera, that is, this specifies how the camera was placed in the system. The placement pose of the cameras is necessary for mapping a physical position in camera coordinates to Home2D. This is a rigid transform that may also flip handedness.

Stage2DFromMovingPlate2D

This is the placement pose of the calibration plate, that is, this specifies how the calibration plate was placed in the system. The placement pose of the calibration target is necessary for mapping a physical position on the calibration target to Home2D. This is a rigid transform that may also flip handedness.

## Moving Camera Configuration transforms

These transforms are valid in the moving camera configuration only.

Home2DFromStationaryPlate2D

This is the placement pose of the calibration plate, that is, this specifies how the calibration plate was placed in the system. The placement pose of the calibration target is necessary for mapping a physical position on the calibration target to Home2D. This is a rigid transform that may also flip handedness.

Stage2DFromMovingCamera2D

This is the placement pose of the camera, that is, this specifies how the camera was placed in the system. The placement pose of the cameras is necessary for mapping a physical position in camera coordinates to Home2D. This is a rigid transform that may also flip handedness.