> For the complete documentation index, see [llms.txt](https://captic-2.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://captic-2.gitbook.io/docs/your-captic-system/calibration.md).

# Calibration

Calibrate the robot and the vision system of the Bag Depalletizer.

Calibration aligns the robot's coordinate system with the vision system's. Without it, bag positions from the camera can't be turned into accurate robot moves, which leads to missed picks or collisions.

## How it works

The Bag Depalletizer uses hand–eye calibration. By default this is **eye-to-hand**: the camera is on a static frame and the robot moves the calibration board through several poses. The system combines the robot's reported pose (X, Y, Z, A, B, C) with the board's pose in the camera image to compute the camera-to-robot transformation. **Eye-in-hand** (camera on the robot) is also supported and uses the same wizard. See [Calibration methods](/docs/overview/hands-on/vision+robot-calibration.md).

![Eye-to-hand setup](https://482575286-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F22HCD2cZG8ud6cPRBzVQ%2Fuploads%2FoW34sr55CnujFqpqVbfb%2FGemini_Generated_Image_49axrj49axrj49ax%20\(1\).png?alt=media\&token=aa76274d-555c-465c-864d-0140330b555e)

## Procedure

### Step 1: Open the Product UI

Open `http://[serial-number].local:3000`. See [User Interfaces](/docs/overview/hands-on/user-interfaces.md) if you need help finding it.

### Step 2: Select your robot brand

Go to **Settings > Depalletizer > Pipeline Settings > Coordinate Convention** and select your robot brand. This matters: robot brands use different coordinate conventions.

![Selecting the coordinate convention](https://482575286-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F22HCD2cZG8ud6cPRBzVQ%2Fuploads%2F3jNChv27FWANselcG7Dd%2FScreenRecording2025-12-12at14.13.26-ezgif.com-video-to-gif-converter.gif?alt=media\&token=8918462b-14e0-4ea0-a07a-4319304cd5b9)

### Step 3: Check the calibration settings (optional)

At **Settings > Calibration**, check the method and board. The default is eye-to-hand with the calibration board supplied with your system. Change it here if you use eye-in-hand or a different board.

![Calibration settings](https://482575286-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F22HCD2cZG8ud6cPRBzVQ%2Fuploads%2F5gBVnMQi4AUp8IXzeyVs%2Fclip2-ezgif.com-video-to-gif-converter.gif?alt=media\&token=31666c5c-9fcc-463c-8577-392cd7e69f56)

### Step 4: Capture the calibration poses

Start the calibration wizard at **Settings > Calibration**. It guides you through each step.

Before you start:

* Do the whole calibration in one session. It takes about 15 minutes.
* Keep the calibration board clearly visible to the camera at all times.

![Calibration wizard](https://482575286-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F22HCD2cZG8ud6cPRBzVQ%2Fuploads%2FlXSQYpj5lTsOnc5VPdVv%2FScreenRecording2025-12-12at14.07.13-ezgif.com-video-to-gif-converter.gif?alt=media\&token=fd0861d9-4410-4e1d-a40e-80311609a55f)

**Where to place the board.** Capture poses in a trapezoid-shaped pattern across the camera's view, with large changes in position and clear rotations around all axes at every pose. Too little rotation makes calibration fail.

![Recommended pose pattern](https://482575286-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F22HCD2cZG8ud6cPRBzVQ%2Fuploads%2FjWz8jtgiQmXKE8MUWWIT%2FGemini_Generated_Image_aaz43raaz43raaz4.png?alt=media\&token=1c6166a5-7659-4867-a239-9925fd1b26e7)

* **Positions 1–4** (corners, far): the board fills about ¼ of the image.
* **Positions 5–8** (corners, closer to the camera): the board fills about ½ of the image.
* **Positions 9–10** (centre): two poses with clearly different orientations.

**At each pose:**

1. Attach the board securely to the gripper so the camera can see it clearly.
2. Move the robot to the position.
3. Enter the robot's X, Y, Z, A, B, C in the form, or fetch them from the robot if the connection is set up in the [Integration Flow](/docs/overview/hands-on/integrating-your-robot/integration-flow.md).
4. Click **Next** and move to the next position.

### Step 5: Let the system compute the calibration

Once all poses are recorded, the system computes the calibration. This takes about a minute. The robot and vision system are then aligned and ready for operation.

{% hint style="info" %}
Want us to check your calibration result? Contact <support@captic.com>.
{% endhint %}