Check Parent and Child Frames After Mounting a Robot Camera
Draw the mounting frames
Identify chassis datum, camera mounting frame and optical frame, including axis directions. A forward-facing camera housing does not establish identical optical and body-axis conventions.
Record parent and child
Identify the producer of the fixed mounting edge and retain effective names and configuration. Inspect the graph for another edge or broadcaster attempting to describe the same frame.
Test a directed reference point
Use a known marker in front of the camera and predict its chassis coordinates. Also check an off-axis point, since the origin can agree while an axis direction or rotation is wrong.
Check inverse usage
The reverse mapping should return the reference point to its original coordinates. Keep both query directions and their results. Swapping names or negating isolated components does not in general compute the inverse.
Record mounting changes
Deliver bracket revision, datum dimensions and verified reference points. After moving the bracket, revisit the fixed edge and consumers such as visualization, measurement and calibration.
Original documentation and further reading
Continue with related articles in this section, or use selection guides to prepare the next review. Apply the device-specific documentation and agreed operating conditions when implementing a test.