I'm trying to align the visual stylus with the pivot point of the Phantom Desktop but I'm having trouble doing so with Candy. I can manage to align the stylus with the pivot point of the robot along a certain plane but as I move perpendicular to the plane the stylus diverges greatly away from the pivot point of the robot and does not represent where the robot is at that point.

I start with calibrating from the default viewpoint and deviceinfo calibration with unit matrix, and I choose a few points to calibrate with and then press 'c'. It seems that my calibration is highly dependent upon what points of the workspace I choose to initially calibrate with because sometimes the few points I choose end up giving me a stylus that goes out of the workspace and is represented as a gigantic ball and the movements are highly scaled with small movements of the robot.

Any ideas on how I should go about selecting points to calibrate with or maybe if I'm approaching this incorrectly?

Have you managed to calibrate correctly yet?

I would say that you need to choose calibration points at the limit of the workspace in all directions, as well as some extra points here and there.

Also notice that (at least for the omni) the actual workspace of the device can be slightly warped because of mechanical issues so a perfect calibration at all end points might not be achievable. (to a mm perfection).

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I'm not entirely sure I understand the problem but I se two posible reasons for not being able to align the virtual stylus with the real stylus. 1) you have to hold down the button of the device (or press space) to make the virtual stylus freeze, so that you can move the real stylus into that frozen position. 2) if the initial calibration matrix has a close to zero scaling in one dimension, you will not be able to move the virtual stylus into the required positions.

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KJ Lundin Palmerius
C Research
Linköping University, Sweden