search

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
543 stars 178 forks source link

Confuse about the reslut #23

Open lixiny opened 5 years ago

lixiny commented 5 years ago

Great work ! Thanks for sharing. however in your terminal session the Result shows the tf from /ar_marker_0 to /ee_link:, how ever in the eye-in-hand usage we really care about the tf from /ee_link to /camera_link, any suggestion?

ghost commented 5 years ago

Hey, Did u solve this problem? I need transformation from /ee_link to /camera_link too.

SarfarazHabib commented 4 years ago

Hey, Did you get the answer for this ??

lixiny commented 4 years ago

Hi @SarfarazHabib. I did some modification so the results show transformation from /ee_link to /camera_link too. please follow：

https://github.com/lixiny/Handeye-Calibration-ROS

in my repo.

Thanks for the jhu-lcsr' s original release.

SarfarazHabib commented 4 years ago

Hey @lixiny Thanks for your help. It works for me now :)

PeakDing commented 4 years ago

Hey @lixiny can you explain a little how you solve the problem with your handeye_online,launch, Thanks

lixiny commented 4 years ago

Hi, @PeakDing , I think I only modify the handeye_calibration.cpp from: https://github.com/jhu-lcsr/handeye_calib_camodocal/blob/master/src/handeye_calibration.cpp to https://github.com/lixiny/Handeye-Calibration-ROS/blob/master/src/handeye_calib_marker/src/handeye_calibration.cpp

Thanks for the jhu-lcsr' s original release.

FrankLin9981 commented 3 years ago

Hi, @lixiny , your solution really works for me now. Thanks a lot! However, I still can't figure out why this simple modification can make the whole thing work. Could you briefly explain the reason behind? I will appreciate it.

lixiny commented 3 years ago

Hi, @FrankLin9981 , I suggest you to visualize the transformations by drawing it down or using RVIZ. I drew the transformations of the: AX=XB and found that the original implementation (may) has tiny little bug on the problem of eye-in-hand.

hope this can help you.