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.
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The results before and after refinement are totally different? #36
In terminal_session.txt, the results before and after refinement are totally different, especially the rotation. I think the two results should be similar. Does anyone know why they are different? @ahundt
In terminal_session.txt, the results before and after refinement are totally different, especially the rotation. I think the two results should be similar. Does anyone know why they are different? @ahundt
# INFO: Before refinement: H_12 = -0.962926 -0.156063 0.22004 -0.00802514 -0.176531 0.981315 -0.0765322 0.0242905 -0.203985 -0.112539 -0.972484 0.0550756 0 0 0 1 Ceres Solver Report: Iterations: 89, Initial cost: 1.367791e+01, Final cost: 6.005694e-04, Termination: CONVERGENCE # INFO: After refinement: H_12 = -0.980558 0.184959 0.0655414 0.00771561 0.0495028 -0.0900424 0.994707 0.0836796 0.189881 0.978613 0.0791359 -0.00867321 0 0 0 1 Result from /ee_link to /ar_marker_0: -0.980558 0.184959 0.0655414 0.00771561 0.0495028 -0.0900424 0.994707 0.0836796 0.189881 0.978613 0.0791359 -0.00867321 0 0 0 1 Translation (x,y,z) : 0.00771561 0.0836796 -0.00867321 Rotation (w,x,y,z): -0.046193, 0.0871038, 0.672938, 0.733099
Result from /ar_marker_0 to /ee_link: -0.980558 0.184959 0.0655414 0.00771561 0.0495028 -0.0900424 0.994707 0.0836796 0.189881 0.978613 0.0791359 -0.00867321 0 0 0 1