Confuse about the reslut
lixiny opened this issue · 8 comments
Great work ! Thanks for sharing.
however in your terminal session the Result shows the tf from /ar_marker_0 to /ee_link:, how ever in the eye-in-hand usage we really care about the tf from /ee_link to /camera_link, any suggestion?
Hey, Did u solve this problem? I need transformation from /ee_link to /camera_link too.
Hey, Did you get the answer for this ??
Hi @SarfarazHabib. I did some modification so the results show transformation from /ee_link to /camera_link too. please follow:
https://github.com/lixiny/Handeye-Calibration-ROS
in my repo.
Thanks for the jhu-lcsr' s original release.
Hey @lixiny Thanks for your help. It works for me now :)
Hey @lixiny can you explain a little how you solve the problem with your handeye_online,launch, Thanks
Hi, @PeakDing , I think I only modify the handeye_calibration.cpp
from:
https://github.com/jhu-lcsr/handeye_calib_camodocal/blob/master/src/handeye_calibration.cpp
to
https://github.com/lixiny/Handeye-Calibration-ROS/blob/master/src/handeye_calib_marker/src/handeye_calibration.cpp
Thanks for the jhu-lcsr' s original release.
Hi, @lixiny , your solution really works for me now. Thanks a lot!
However, I still can't figure out why this simple modification can make the whole thing work.
Could you briefly explain the reason behind?
I will appreciate it.
Hi, @FrankLin9981 , I suggest you to visualize the transformations by drawing it down or using RVIZ. I drew the transformations of the: AX=XB and found that the original implementation (may) has tiny little bug on the problem of eye-in-hand.
hope this can help you.