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ethz-asl / hand_eye_calibration

Python tools to perform time-synchronization and hand-eye calibration.
BSD 3-Clause "New" or "Revised" License
438 stars 114 forks source link

compute-aligned-poses error !!=_= #92

Closed johnjin404 closed 4 years ago

johnjin404 commented 5 years ago

hey ,thank you for your work , but i got some confusing problem , wish you to help me. I am using this package to compute the extrinsic param between a realsense camera and the vicon marker segment stick on the camera.Indeed, it's a AX=XB problem. I use aruco_mapping to generate the poses(30Hz) of camera in the world(ArucoMarker) frame, and get the poses of the marker segment (100Hz)in the world(Vicon world) frame.Then i use the "compute_aligned_poses" to generate the time aligned data , it always shows Screenshot from 2019-09-24 20-58-17, it only has 2 matching poses,

I have tried to change the data frequence , but it seems like nothing differrent happen. Here are my csv files, data-vicon-calib-calib_convert.txt(vicon poses) data-camera_pose_convert.txt(camera poses) How to slove this confuing problem , thank you ~

Thank you for your answer~~

johnjin404 commented 5 years ago

OK, I use the target_extractor you provide instead of the unstable aruco_mapping to solve this problem. But now every of my calibration result different from each other, mainly on the translation part, the rotation result is good enough,here are my expriment data: 720901724 1 2 3 camera-1.txt camera-2.txt camera-3.txt vicon-1.txt vicon-2.txt vicon-3.txt Thank you for your help~~

johnjin404 commented 4 years ago

Finally , i got an excellent result using this system, Thank you for your work again!!