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skumra / robotic-grasping

Antipodal Robotic Grasping using GR-ConvNet. IROS 2020.
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Camera Calibration Issue #39

Closed Nayoung-Oh closed 3 years ago

Nayoung-Oh commented 3 years ago

Hello! First, thanks for providing this wonderful repository!

While trying to reproduce the result with a physical robot, I think I found minor issues in the camera calibration part (the calibration does not work well for me...). In the provided camera_calibration.py file, it calculates the transformation matrix from camera to robot using inv(self.robot2camera) camera_pose = np.linalg.inv(self.world2camera)

However, I think it is not valid when the translation part (t) exists. Therefore, I little bit modified the calibration method by calculating camera to robot transformation matrix directly and it worked well in my case. R, t = self._get_rigid_transform(np.asarray(self.measured_pts), np.asarray(new_observed_pts)) (Also, modified calculating calibration error)

Could you explain what I misunderstood from the original calibration file or is my approach valid for the camera calibration?

Thanks for in advance.

skumra commented 3 years ago

If I understand your approach correct, I think it makes sense.

There were definitely some changes made during robot experiments that didn't get committed to this repository.

Please feel free to create a pull request to contribute your proposal to the repository.