Add base_world transform matrix about hand_eye_calibration HOT 2 OPEN

That's a fair point, feel free to open a PR for this.

from hand_eye_calibration.

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

from hand_eye_calibration.