As this is an advance topic, this topic is optional. The teaching material is aim to provide you some direction on eye-in-hand calibration, you will need to find the correct solution by yourself to implement the eye-in-hand calibration on dobot magician.
There is a lot of benefit using eye-in-hand calibration, such as getting higher precision on 3d coordinate from the camera, better close up image and more benefit. You can compare difference method.
According to the Realsense D405 spec, the camera has the best accuracy in 7cm distance.
To migrate from the eye-to-hand calibration to eye-in-hand calibration, you have to install the camera on the robotics arm. Here is some material to help you design the camera mount for the eye-in-hand calibration. If you need to print the camera mount, please ask tutor in InnoWing for help, for screw or nuts, please go to machine shop and ask for the on duty technician.
Very simple 3D design Tool:
CAD of camera file: https://dev.realsenseai.com/docs/stereo-depth-camera-d400#section-cad-files
The calibration is very similar to the eye-to-hand calibration, but please notes that $H_{gripper}^{base}$ is changing in each different position of the robotics arm. You have to adjust the formula for calibration and store different transformation matrix.
Please reference to learning material: 🔹5. (Optional) Another Type of Calibration — Eye-in-Hand
The calibrateHandEye() in the opencv library is not working for 4DOF robotic arm due to insufficient variation in the change of pose.