zarathustr / hand_eye_so4 Goto Github PK

Hi,

Thank you for providing the code. Could you add a license to your code?
Ideally something like a permissive license such as the Apache 2.0 or the BSD-3 licenses.

thank you for your share, can u tell me what's the meaning for dd? does it represents converse unit from mm to m?

Hello, Im curious about your algorithm and I am trying to run it. I loaded samples:
a) from robot base to robot wrist 3 link: robotBase2Wrist
b) from camera to chessboard: camera2Marker
I should expect result similar to given by another hand-eye algorithms:
Obtained transformation:
-0.994175 0.0213239 -0.105644 -0.00604253
-0.10673 -0.0586749 0.992555 0.16979
0.0149665 0.998049 0.060609 -0.034022
0 0 0 1
Instead of this I get from your algorithm example result:
0,524322 -0,838104 -0,150559 0,0668619
0,685962 0,310964 0,657843 0,161761
-0,504522 -0,448190 0,737953 -0,333273
0 0 0 1

Running looks like:
[R, t, X] = proposed(robotBase2Wrist, camera2Marker, 1.0 * 10^(4));
I attach data which I use to calibration,
one is in x y z qx qy qz qw notation
second is in 4x4 homogenous matrices notation
I also attach execution script so you can easly reproduce my results using x y z qx qy qz qw notation.
Could you explain what could be wrong with my usage of your algorithm implementation?
data.zip

thank you for your share, can u tell me what's the meaning for dd? does it represents converse unit from mm to m?

HI Jin,

I came across your paper " Hand-eye Calibration: 4D Procrustes Analysis Approach " the results seems promising. I would like to verify your proposed method and compare the to the other methods that you have mentioned in the paper on my computer. Do you mind to share the implementation for the other calibration methods?

Thanks.