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moveit / moveit_calibration

Hand-eye calibration tools for robot arms.
BSD 3-Clause "New" or "Revised" License
142 stars 79 forks source link

misinformation of Reprojection Error. #136

Open patrickKXMD opened 1 year ago

patrickKXMD commented 1 year ago

in getReprojectionError() you will see ret = std::make_pair(std::sqrt(rotation_err / num_motions), std::sqrt(translation_err / num_motions)); return ret; which the first value is rotation error and the second is translation error.

But in handeye_control_widget.cpp reproj_err_text << "Reprojection error:\n" << reproj_err.first << " m, " << reproj_err.second << " rad"; It assumes the first one as translation error.

I don't get it. Is this a mistake?

CarolinePascal commented 1 year ago

That is definitely a mistake, the function docstring mentions : * @return Pair of translation and rotation reprojection error in meters and radians, or NaNs on error. Which is not the case as you pointed out.

Do not hesitate to submit a pull request if you have the time, it's a small fix that should be quickly and easily merged !

patrickKXMD commented 1 year ago

That is definitely a mistake, the function docstring mentions : * @return Pair of translation and rotation reprojection error in meters and radians, or NaNs on error. Which is not the case as you pointed out.

Do not hesitate to submit a pull request if you have the time, it's a small fix that should be quickly and easily merged !

I don't know if this project is still maintained