Add base_world transform matrix
Opened this issue · 2 comments
Hi!
I've been using hand-eye calibration to find the transformation between two coordinate systems, but I am interested in the Base-World transformation, since in my setup they are fixed.
It would be a good idea to also return the base-World transform (and also output it in another calibration.json file).
That's a fair point, feel free to open a PR for this.
Hi Fadri (and others). Thanks for providing this tool!
I am also interested in the Base-World transform and in aligned trajectories. I had a look in the code to check how this is computed for visualization / evaluation, and looking at
Wouldn't it make more sense, in particular for evaluating the alignment error, but also for visualization, to do some least-squares trajectory alignment based on all poses (Horn algorithm)? Something like implemented in the RGBD benchmark tools (https://github.com/jbriales/rgbd_benchmark_tools/blob/80723c9c9530481ec7dc92d3c3f77575f6a25bec/src/rgbd_benchmark_tools/evaluate_ate.py#L47-L79)? I wounder if there is a specific reason you didn't do that and instead just align world and base frame based on the first pose? Or did I maybe miss something?
In case someone is working on this, the additions I'd love to see are:
- (optionally) compute W_B using Horn
- output the final W_B in a second calibration file
- output the aligned B_H trajectory to a file, i.e. W_E computed from the input B_H, plus final estimates for H_E and W_B
- all this would be useful both after the initial handeye-calibration and the batch-refinement step