# Cam Pose Adjustment

Cam Pos Adjustment page allows users to input new camera positions in gantry's space and map them into Home2D coordinates for each alignment/assembly calibration results during mode change, so that recalibration for alignment/assembly can be exempted. Cam Pos Adjustment page is located under Calibration category in Setup mode of the application.

Cam Pose Adjustment page lists all camera acquisition positions for all alignment/assembly calibrations in both Gantry2D and Home2D, so that after users' manual inputs of cameras' new positions in Gantry2D, their updated values in Home2D can be observed immediately.

Take the HECalib shown above for example, the columns and their descriptions are as below:

Column | Description | Editable
--- | --- | ---
Camera | Camera acquisition position | X
Calibrated | Whether or not the camera is one-time calibrated | X
XCalib Gantry | X-element of camera position in Gantry2D when the camera was hand-eye calibrated | √
YCalib Gantry | Y-element of camera position in Gantry2D when the camera was hand-eye calibrated | √
XRunTime Gantry | X-element of new camera position in Gantry2D when it is repositioned for model change | √
YRunTime Gantry | Y-element of new camera position in Gantry2D when it is repositioned for model change | √
XCalib Stage0 | X-element of camera position in Home2D when the camera was hand-eye calibrated | X
YCalib Stage0 | Y-element of camera position in Home2D when the camera was hand-eye calibrated | X
Theta Calib Stage0 | Theta-element of camera position in Home2D when the camera was hand-eye calibrated | X
XRunTime Stage0 | X-element of new camera position in Home2D during run time after the model change | X
YRunTime Stage0 | Y-element of new camera position in Home2D during run time after the model change | X
Theta RunTime Stage0 | Theta-element of new camera position in Home2D during run time after the model change | X

After these cameras' positions have been adjusted physically for model change, users can follow the steps below to update them in Home2D:

1. Load Recipe

   Since one time calibration results are only used during model change, they are not loaded by the application when it launches. To load them, one need to manually click the "Load Recipe" button at the bottom right corner of this page.

   After loading, the "Calibrated" column of all camera positions should be marked as "".

2. Input new camera positions

   Manually input new values in "XRunTime Gantry" and "YRunTime Gantry" columns for each camera acquisition positions.

3. Run calculation

   Click the "Run Calculation" button so that the application can recalculate cameras' positions in Home2D based on users' inputs in Gantry2D.

   After the button is clicked, the run time camera positions in Home2D should be updated right away.

4. Save recipe

   Click "Save recipe" button to save the changes to the current product recipe. These new positions will be saved to alignment recipe so that they will be loaded upon product changes.