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lagadic / vision_visp

ViSP stack for ROS
http://wiki.ros.org/vision_visp
GNU General Public License v2.0
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visp_hand2eye_calibration: Problem in solving Hand-Eye Calibration by VVS #106

Closed aycameric closed 3 years ago

aycameric commented 3 years ago

Hello, I am using visp_hand2eye_calibration and have a few questions:

  1. if I take six subsequent samples from my endeffector position, then there will not be much difference, since it takes a while with my spline cartesian controller and you said it's better to have a rotation in the poses, so I am saving six values with a user request. Is this right?
  2. I get this error: Problem in solving Hand-Eye Calibration by VVS after I execute the calibration node.

Thank you in advance! Best regards,

aycameric commented 3 years ago

And when I use the service I get this error:

Problem in solving Hand-Eye Rotation by Procrustes method

Why is that?

fspindle commented 3 years ago

It means that with your data the algorithm is unable to converge.

This image and the corresponding tutorial show what kind of good poses should be acquired to succeed.

aycameric commented 3 years ago

Does the algorithm make use of the AX=XB problem? Does it give me the eye to base transformation in case of eye-to-hand calibration? & I solved the previous issue with better data thanks for your quick reply!