Results impact of planarMotion

jhu-lcsr / handeye_calib_camodocal

Easy to use and accurate hand eye calibration which has been working reliably for years (2016-present) with kinect, kinectv2, rgbd cameras, optical trackers, and several robots including the ur5 and kuka iiwa.

BSD 2-Clause "Simplified" License

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Results impact of planarMotion #18

Closed MaXZon3 closed 4 years ago

MaXZon3 commented 6 years ago

Hi,

Using your handeye calibration, I'm wondering what is the impact of this boolean planarMotion parameter.

According to what I read in the code, it's always fixed to false.

Is it possible to explain what it implies on the final results please? :smile:

https://github.com/jhu-lcsr/handeye_calib_camodocal/blob/2073c770ee8b45428862bacd6d80a23761aa1d83/src/camodocal/calib/HandEyeCalibration.cc#L114

ahundt commented 4 years ago

that's an artifact of the original source for some of the https://github.com/hengli/camodocal calibration code, which worked on a car, and since a car can't go up in the air very easily I believe this was a special case to help with the situation. I never dealt with that part specifically because I didn't do any planar motions, so I don't have an exact answer at the moment, sorry.