Api Endpoint

HALOWERK Medien

Solves the hand-eye problem: given a series of gripper-to-base poses read from the robot and the matching target-to-camera poses seen by the camera, it recovers the rigid transform between camera and gripper that stays constant as the arm moves. This is what lets a robot act on what its camera sees. The poses must be genuinely synchronized — a pairing that is off by one sample produces a confident and entirely wrong transform, and nothing in the data reveals it.

Open interactive test console

Offering

Provider
medien.halowerk.com
Method
POST
Offering type
Api Endpoint
Transport type
http
Category
Data
Delivery
Not provided
Pricing model
Not provided
x402 version
2

Endpoint context

URL
https://medien.halowerk.com/v1/oss-opencv-robot-hand-eye-calibrate
MIME type
application/json
First seen
2026-10-16T03:02:07.735Z
Last seen
Tags
oss, opencv, p009

Payment pricing

x402 payment terms are the authoritative price for calling this endpoint.

Payment option 1
0.003 USDC
Atomic price: 3000 · Network: eip155:8453 · Asset: USDC · Scheme: exact
Raw x402 terms
[
  {
    "scheme": "exact",
    "network": "eip155:8453",
    "asset": "0x833589fCD6eDb6E08f4c7C32D4f71b54bdA02913",
    "amount": "3000",
    "payTo": "0x2880EdfFF13100677Bf97A3CBdF3Bc34771C4E5E"
  }
]

Observed health

Status
Healthy
Latest latency
325 ms
Average latency
1264 ms
HTTP status
204
Last checked
Reachability
100% over 8 checks

Latency is measured to the first response headers. A reachable result does not verify response accuracy or merchant identity.

Input schema

{
  "body": {
    "gripper_to_base": [
      [
        [
          0.9883261643209938,
          -0.011898272648401948,
          0.15188753742995567,
          -0.1
        ],
        [
          0.02965868306845241,
          0.9928985120353282,
          -0.11520810438800028,
          -0.08
        ],
        [
          -0.14943813247359922,
          0.11836796824316773,
          0.981660465057439,
          0.9
        ],
        [
          0,
          0,
          0,
          1
        ]
      ],
      [
        [
          0.9900332889206209,
          0.07810864350797697,
          0.11718842365337251,
          -0.08
        ],
        [
          -0.09933466539753062,
          0.9771504070221839,
          0.18790877123418434,
          -0.06
        ],
        [
          -0.09983341664682815,
          -0.19767681165408388,
          0.975170327201816,
          1.1
        ],
        [
          0,
          0,
          0,
          1
        ]
      ],
      [
        [
          0.9838313410528056,
          -0.13931586755647624,
          -0.11254768504604905,
          -0.12
        ],
        [
          0.0987123949919223,
          0.9461549437949042,
          -0.30829642457774376,
          -0.07
        ],
        [
          0.14943813247359922,
          0.29220183329241467,
          0.9446090901443596,
          1
        ],
        [
          0,
          0,
          0,
          1
        ]
      ],
      [
        [
          0.9446090901443596,
          0.1778630716306493,
          -0.27582312188566716,
          -0.07
        ],
        [
          -0.14276370081881548,
          0.9794224989256464,
          0.1426537567916039,
          -0.1
        ],
        [
          0.29552020666133955,
          -0.09537450575679464,
          0.9505637859220634,
          0.8
        ],
        [
          0,
          0,
          0,
          1
        ]
      ],
      [
        [
          0.9519758849404707,
          -0.1430411600614064,
          0.27070489655729324,
          -0.12
        ],
        [
          0.19297506543968274,
          0.9667501975957967,
          -0.1677935623527856,
          -0.06
        ],
        [
          -0.23770262642713458,
          0.21197472013609336,
          0.9479262520960516,
          1.2
        ],
        [
          0,
          0,
          0,
          1
        ]
      ],
      [
        [
          0.9684764438206882,
          -0.09024418993859348,
          0.23218390113606152,
          -0.1
        ],
        [
          0.029063012741622204,
          0.966640457675885,
          0.2544829402426335,
          -0.09
        ],
        [
          -0.24740395925452294,
          -0.2397127693021015,
          0.9387912809451863,
          0.95
        ],
        [
          0,
          0,
          0,
          1
        ]
      ]
    ],
    "target_to_camera": [
      [
        [
          0.9063237102581435,
          0.33288469091973355,
          0.26031733475738106,
          0.5204232013800494
        ],
        [
          -0.3848000025265721,
          0.9047162386004,
          0.1828045012254741,
          -0.09917100092930925
        ],
        [
          -0.17466050005500083,
          -0.26585016487491175,
          0.9480598080060768,
          0.25671815524783104
        ],
        [
          0,
          0,
          0,
          1
        ]
      ],
      [
        [
          0.9222283210537701,
          0.25507749811785274,
          0.2905690861056643,
          0.5125007539727658
        ],
        [
          -0.2343748946366054,
          0.9665051811763983,
          -0.10457601791643052,
          -0.18699677147137095
        ],
        [
          -0.3075115162240664,
          0.02834086648488894,
          0.9511222122716204,
          0.008701358136651516
        ],
        [
          0,
          0,
          0,
          1
        ]
      ],
      [
        [
          0.7565350674425667,
          0.3826417258073084,
          0.5303206590364696,
          0.5596770183022365
        ],
        [
          -0.5750082882699702,
          0.7754833106415053,
          0.2607510370781477,
          -0.22671957263743936
        ],
        [
          -0.31148059353755847,
          -0.5022060778083985,
          0.8067024824938839,
          0.032405134859663565
        ],
        [
          0,
          0,
          0,
          1
        ]
      ],
      [
        [
          0.7271227394292543,
          0.22383053900494349,
          0.6489933833358035,
          0.6217218064125126
        ],
        [
          -0.24008323494454095,
          0.9685694851402569,
          -0.0650629906606059,
          -0.10884376766944985
        ],
        [
          -0.6431582714258297,
          -0.1085036509242624,
          0.7580068572464532,
          0.04431792492295017
        ],
        [
          0,
          0,
          0,
          1
        ]
      ],
      [
        [
          0.8732504913062019,
          0.4636150448634498,
          0.14998223097999983,
          0.49446971179787524
        ],
        [
          -0.4872295048277384,
          0.834827570239529,
          0.25626224379194174,
          -0.2805429704181118
        ],
        [
          -0.0064022698157275865,
          -0.2968568984278877,
          0.9549005146071401,
          0.08983366223433209
        ],
        [
          0,
          0,
          0,
          1
        ]
      ],
      [
        [
          0.9229723671601914,
          0.36672150886044824,
          0.11677904091843325,
          0.4715357954702587
        ],
        [
          -0.3459078789556262,
          0.9234607788801362,
          -0.1660359272763343,
          -0.23292273219008508
        ],
        [
          -0.16872980985923255,
          0.11285178248130816,
          0.979180640359918,
          0.24271464454929048
        ],
        [
          0,
          0,
          0,
          1
        ]
      ]
    ]
  },
  "bodyType": "json",
  "method": "POST",
  "type": "http"
}

Output schema

{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "properties": {
    "input": {
      "additionalProperties": false,
      "properties": {
        "body": {
          "$schema": "https://json-schema.org/draft/2020-12/schema",
          "additionalProperties": false,
          "description": "Numeric JSON arrays only. Additionally enforce equal paired dimensions, nondegenerate geometry, maximum 32768 pixels/image, 131072 scalars/array, and 1048576 encoded bytes. No paths or network resources.",
          "properties": {
            "gripper_to_base": {
              "items": {
                "items": {
                  "items": {
                    "maximum": 1000000000,
                    "minimum": -1000000000,
                    "type": "number"
                  },
                  "maxItems": 4,
                  "minItems": 4,
                  "type": "array"
                },
                "maxItems": 4,
                "minItems": 4,
                "type": "array"
              },
              "maxItems": 32,
              "minItems": 3,
              "type": "array"
            },
            "target_to_camera": {
              "items": {
                "items": {
                  "items": {
                    "maximum": 1000000000,
                    "minimum": -1000000000,
                    "type": "number"
                  },
                  "maxItems": 4,
                  "minItems": 4,
                  "type": "array"
                },
                "maxItems": 4,
                "minItems": 4,
                "type": "array"
              },
              "maxItems": 32,
              "minItems": 3,
              "type": "array"
            }
          },
          "required": [
            "gripper_to_base",
            "target_to_camera"
          ],
          "type": "object"
        },
        "bodyType": {
          "enum": [
            "json",
            "form-data",
            "text"
          ],
          "type": "string"
        },
        "method": {
          "enum": [
            "POST",
            "PUT",
            "PATCH"
          ],
          "type": "string"
        },
        "type": {
          "const": "http",
          "type": "string"
        }
      },
      "required": [
        "type",
        "method",
        "bodyType",
        "body"
      ],
      "type": "object"
    },
    "output": {
      "properties": {
        "example": {
          "additionalProperties": false,
          "properties": {
            "operation": {
              "const": "robot-hand-eye-calibrate"
            },
            "result": {
              "additionalProperties": false,
              "properties": {
                "camera_to_gripper": {
                  "items": {
                    "items": {
                      "type": "number"
                    },
                    "maxItems": 4,
                    "minItems": 4,
                    "type": "array"
                  },
                  "maxItems": 4,
                  "minItems": 4,
                  "type": "array"
                },
                "pose_count": {
                  "maximum": 32,
                  "minimum": 3,
                  "type": "integer"
                },
                "warnings": {
                  "items": {
                    "maxLength": 1024,
                    "type": "string"
                  },
                  "maxItems": 8,
                  "minItems": 1,
                  "type": "array"
                }
              },
              "required": [
                "camera_to_gripper",
                "pose_count",
                "warnings"
              ],
              "type": "object"
            },
            "runtime_ms": {
              "minimum": 0,
              "type": "number"
            },
            "upstream": {
              "additionalProperties": false,
              "properties": {
                "binary_sha256": {
                  "const": "1fd4eb220f9986baa0ea0492cbcbedf85b868e792cbcac5f69e10d067a2f956c"
                },
                "components": {
                  "const": [
                    "calibrateHandEye"
                  ]
                },
                "numpy_version": {
                  "const": "2.5.0"
                },
                "package_version": {
                  "const": "4.13.0.92"
                },
                "project": {
                  "const": "OpenCV"
                },
                "version": {
                  "const": "4.13.0"
                }
              },
              "required": [
                "project",
                "version",
                "package_version",
                "binary_sha256",
                "numpy_version",
                "components"
              ],
              "type": "object"
            }
          },
          "required": [
            "operation",
            "result",
            "upstream",
            "runtime_ms"
          ],
          "type": "object"
        },
        "type": {
          "type": "string"
        }
      },
      "required": [
        "type"
      ],
      "type": "object"
    }
  },
  "required": [
    "input"
  ],
  "type": "object"
}