This document illustrates the geometrical offsets of the under-slung camera configuration that need to be input in Lensmaster. The measurements can be fine-tuned (by 1 mm increments) inside the software to perfectly align your roll axis with the central axis of the lens and your panning axes with the tip of the lens.
- X-offset: Distance between the axis of motor 6 (last axis on the robot) and the horizontal mid-plane of your camera lens.
- Y-offset: Distance between the axis of motor 6 and the vertical mid-plane of your camera lens.
- Z-offset: Distance between the flange of motor 6 and the sensor position along your camera