title: Eye-In-Hand Calibration OpenCV
body: <p>I have a setup where a (2D) camera is mounted on the end-effector of a robot arm - similar to the OpenCV <a href="https://docs.opencv.org/master/d9/d0c/group__calib3d.html" rel="nofollow noreferrer">documentation</a>:
  <a href="https://i.stack.imgur.com/pRWnu.png" rel="nofollow noreferrer"><img src="https://i.stack.imgur.com/pRWnu.png" alt="enter image description here" /></a></p>
  <p>I want to calibrate the camera and find the transformation from camera to end-effector.
  I have already calibrated the camera using this OpenCV guide, <a href="https://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_calib3d/py_calibration/py_calibration.html" rel="nofollow noreferrer">Camera Calibration</a>, with a checkerboard where the undistorted images are obtained.</p>
  <p>My problem is about finding the transformation from camera to end-effector. I can see that OpenCV has a function, <a href="https://docs.opencv.org/master/d9/d0c/group__calib3d.html" rel="nofollow noreferrer">calibrateHandEye()</a>, which supposely should achieve this. I already have the &quot;gripper2base&quot; vectors and are missing the &quot;target2cam&quot; vectors. Should this be based on the size of the checkerboard squares or what am I missing?
  Any guidance in the right direction will be appreciated.</p>