Comments (5)
Not directly. The ViSP library used to report the residuals of the Tsai-Lenz algorithm, which are very loosely correlated to it. This was removed recently (I guess because people trusted this value too much).
I am working on a tool to check the accuracy after the calibration, but I have very limited time to do this.
from easy_handeye.
My current temporary solution is to estimate multiple hand-eye transformation and average them.
I planned to make a structure to fix the marker in order to get a "ground truth" of the marker pose and cross check with the estimated hand-eye transformation, but physically it is still impossible to know the accuracy position of the marker. Do you mind to share your idea on how to check the accuracy?
from easy_handeye.
It is a very empirical consideration: if the marker is not moving with respect to the base of the robot, then the concatenation of the robot forward kinematics, the hand-eye calibration and the marker tracking must add up to the same geometric transformation for all poses of the robot (up to FK and tracking uncertainty).
If this does not hold, either you have a problem with the robot (hopefully unlikely), or with the marker tracking (already more likely and easy to verify), or with the result of the calibration.
Of course, while moving the robot the marker must stay within the field-of-view of the camera for the tracking to work.
from easy_handeye.
Hi @waiyc,
I started working on the evaluation tool. If you are interested, you can check out the development branch and try it out. Feedback is very welcome!
from easy_handeye.
The tool is now released on the master branch. It automatically samples a position when the robot and the marker have stopped moving for a while (to be sure to sample a consistent state of the system), and both are visible. It then computes the average distance of each subsequent sample from the first one. If the calibration is good, this error should be of the same order of magnitude of the combined robot and tracking RMS error.
from easy_handeye.
Related Issues (20)
- encountered an error HOT 3
- The GUI viewer is empty when I launch the calibration (thus cannot collect samples). HOT 3
- Cann't find check_calibration.launch file. How to check the calibration result? HOT 1
- DepthCloud's position wrong with the calibrated camera frame HOT 1
- pip2 + transforms3d ??? HOT 1
- Wrong visualisation of point cloud after calibration HOT 6
- No transform from [base] to frame [world] HOT 1
- Error when takes sample HOT 2
- Maximum achievable accuracy of the hand eye calibration tool HOT 1
- ImportError: No module named transforms3d
- I am confused because of other online articles introducing easy_hand. HOT 2
- results of each calibration are very different HOT 1
- Trouble while using the calibration matrices HOT 4
- something wrong when using easy_handeye calibrating
- Number of samples
- Load rqt_easy_handeye plugin failed HOT 4
- All functions are running normally, except for the lack of Plugins and the inability of rviz to display the coordinate system.
- rqt_calibrationmovements `Plan` failed
- Take sample error
- calibration
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from easy_handeye.