Unable to get extrinsic calibration results

[arunkru1998]

I am trying to do calibration with the given package, it gives the intrinsic calibration results at the end but doesn't give extrinsic calibration. I downloaded opencv 4.7 from source for this.

Thanks

[xiaohuits]

I don't know your application needs. Is your camera mounted on a robot arm?

[arunkru1998]

yes my camera is mounted on a URe5 robot. The camera I am using is a DSLR camera with a resolution of 61MP.

On Mon, Sep 25, 2023 at 10:24 AM Hui Xiao @.***> wrote:

I don't know your application needs. Is your camera mounted on a robot arm?

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--

Arun Nandagopal

MSME Student (2022 – 2024),

The University of Washington.

[xiaohuits]

You need to put more clarity on what is "extrinsic" in your application. Are you talking about the relative pose of the Aruco board with respect to the camera coordinate system?

If that is your need, you can get it via any pose estimation algorithm with the provided camera matrix.

This package is intended to give you the intrinsic camera parameters and the relative pose between the robot end-effector and the camera coordinate system. The latter is the so-called hand-eye calibration.

[arunkru1998]

Yes I am talking about the eye in hand calibration ( pose from eef to camera)

On Tue, 26 Sept, 2023, 3:20 pm Hui Xiao, @.***> wrote:

You need to put more clarity on what is "extrinsic" in your application. Are you talking about the relative pose of the Aruco board with respect to the camera coordinate system?

If that is your need, you can get it via any pose estimation algorithm with the provided camera matrix.

This package is intended to give you the intrinsic camera parameters and the relative pose between the robot end-effector and the camera coordinate system. The latter is the so-called hand-eye calibration https://urldefense.com/v3/__https://en.wikipedia.org/wiki/Hand**Beye_calibration_problem__;4oCT!!K-Hz7m0Vt54!gt1hsw4PTz_QFUuV8Vb7yWi_P-NCf5Km7bEUf3ZJOsJp_qgrrgr-umTvp1kb8z7ddA4-9TO1JAsAHVM4UZgz0Qg$ .

— Reply to this email directly, view it on GitHub https://urldefense.com/v3/__https://github.com/xiaohuits/camera_hand_eye_calibration/issues/1*issuecomment-1736381712__;Iw!!K-Hz7m0Vt54!gt1hsw4PTz_QFUuV8Vb7yWi_P-NCf5Km7bEUf3ZJOsJp_qgrrgr-umTvp1kb8z7ddA4-9TO1JAsAHVM4oo7tzSc$, or unsubscribe https://urldefense.com/v3/__https://github.com/notifications/unsubscribe-auth/A3LSZTV7SCZVN3VBIPPALBLX4NIJTANCNFSM6AAAAAA5GMUZVQ__;!!K-Hz7m0Vt54!gt1hsw4PTz_QFUuV8Vb7yWi_P-NCf5Km7bEUf3ZJOsJp_qgrrgr-umTvp1kb8z7ddA4-9TO1JAsAHVM41OyMn58$ . You are receiving this because you authored the thread.Message ID: @.***>

[xiaohuits]

what’s does your generated yaml file looks like?

[arunkru1998]

camera matrix: [4289.414741994477, 0, 603.3704025848159; 0, 4266.728655266447, 227.3862944746829; 0, 0, 1] distortion coefficients: [-0.3063627800244836, -1.020080173649123, 0.005750013893702339, -0.00306748688277267, 0.06485380209214184] hand eye pose: translation: [0; 0; 0] hand eye pose: rotation: [1, 0, 0; 0, 1, 0; 0, 0, 1] [ INFO] [1698098940.549116554]: calibration saved to 'camera_hand_eye_calibration.yaml

[arunkru1998]

sorry for the delay in the response, I was out on a conference and didn't have access to the robot. As you can see the hand eye pose estimate is always zero matrix for translation and a identity matrix for rotation

[arunkru1998]

I ran this with the opencv 4.2 base version on ROS neotic, as I found the detection to be working well