手眼标定handeye-calib包使用问题
-
我看到小鱼大佬的这篇文章，基于ROS的机械臂手眼标定-基础使用https://blog.csdn.net/qq_27865227/article/details/113774717
使用里面github的代码时有些问题
请问base_hand_on_eye_calib.launch是手在眼上吗，
为什么第一个结果是end_link->marker，机械臂末端到标定板的位置不是变化的吗，
还有标定的结果为什么是base_link->camera，不是end_link到base_link->camera吗
非常感谢 -
@GHluck 把具体结果扔一个出来我瞅瞅，太久了给忘了
-
@小鱼
尝试了base_hand_on_eye_calib和base_hand_to_eye_calib，提示的结果除了数据以外都是一样的，不知道哪个是手在眼上，哪个是手在眼外
运行结果：====================================================== 欢迎使用手眼标定程序，我是小鱼 学习机器人一定要关注公众号鱼香ROS 回复手眼标定可获得算法推导及实现 ------------------------------------------------------ 本程序中相关坐标系定义解析 base_link:机械臂基坐标系（一般在固定在机器人底座） end_link :机械臂末端坐标系（可在launch中配置） camera :相机坐标系 marker :标定版所在坐标系 ====================================================== [INFO] [1657255390.814209]: Get param base_handeye_data file path: /home/ghluck/handeye-calib/src/handeye-calib/config/base_hand_to_eye_test_data.csv 算法 x y z rx ry rz 四元数姿态(w,x,y,z) 距离 --------------------------- ---------- ---------- --------- --------- --------- ------- -------------------------------------------------------------------------------------- --------- end_link->marker:Tsai-Lenz -0.0207977 0.00889766 0.0832465 -0.599844 -0.872374 90.8723 [0.7017022176493098, 0.0017507876701591573, -0.009071257561316992, 0.7124104468456586] 0.0862652 end_link->marker:Park -0.0206996 0.00886619 0.0832877 -0.596908 -0.90859 90.9119 [0.701455408838218, 0.0019971509345122433, -0.009274064585469088, 0.7126502034840222] 0.0862781 end_link->marker:Horaud -0.020697 0.00886872 0.0832965 -0.603022 -0.905535 90.9109 [0.7014616228846062, 0.0019406452340505343, -0.009293405110570752, 0.7126439911608187] 0.0862863 end_link->marker:Daniilidis -0.0191904 0.00705548 0.086605 -0.641394 -0.893523 90.9525 [0.7012038110537657, 0.001634472146996101, -0.009457924572747411, 0.7128962698227922] 0.0889858 算法平均值测试 x y z rx ry rz 距离 --------- ------------ ----------- ----------- ------------ ------------ ------------ ----------- mean -0.0203462 0.00842201 0.0841089 -0.610292 -0.895005 90.9119 0.0869539 var 4.46922e-07 6.22624e-07 2.07717e-06 0.000327123 0.000202456 0.000804256 1.37632e-06 std 0.000668522 0.000789065 0.00144124 0.0180865 0.0142287 0.0283594 0.00117317 Tsai-Lenz x y z rx ry rz 四元数姿态(w,x,y,z) 距离 ------------------ ----------- ------------ ------------ ----------- ------------ ----------- ---------------------------------------------------------------------------------- ------- base_link->camera0 1.07708 -0.255704 -0.282747 1.58671 -0.00409023 2.99378 [0.05034107239632128, 0.05405592110803302, 0.7106559596110317, 0.6996512280361369] 1.14256 base_link->camera1 1.07462 -0.258693 -0.281246 1.59261 -0.0124258 2.99644 [0.04628230189265449, 0.05616345442325844, 0.7125667717962985, 0.6978196118271296] 1.14054 base_link->camera2 1.07995 -0.254922 -0.2831 1.58326 0.0035099 2.99478 [0.05278186263641198, 0.05095291079623877, 0.7096715223305498, 0.7007026518082131] 1.14517 mean 1.07722 -0.25644 -0.282364 1.58752 -0.00433537 2.995 1.1427562812426582 var 4.72969e-06 2.64052e-06 6.46241e-07 1.49208e-05 4.23543e-05 1.20167e-06 3.5882941737717545e-06 std 0.00217479 0.00162497 0.000803891 0.00386275 0.00650802 0.00109621 0.0018942793283388156 Park x y z rx ry rz 四元数姿态(w,x,y,z) 距离 ------------------ ----------- ------------ ------------ ----------- ------------ ----------- ----------------------------------------------------------------------------------- ------- base_link->camera0 1.07675 -0.255821 -0.28273 1.58733 -0.00470377 2.99343 [0.050228168260957204, 0.054410020849590755, 0.710847046039448, 0.6994377441068553] 1.14226 base_link->camera1 1.07438 -0.258593 -0.281245 1.59284 -0.0129172 2.99567 [0.04636920148293036, 0.056614210678045014, 0.7126106325682594, 0.6977326240429085] 1.14029 base_link->camera2 1.07966 -0.254665 -0.283099 1.58313 0.00289688 2.99408 [0.05281273673640797, 0.05141250260216108, 0.70959309506397, 0.7007461800481892] 1.14484 mean 1.07693 -0.25636 -0.282358 1.58776 -0.00490801 2.99439 1.1424641251508512 var 4.66742e-06 2.71665e-06 6.42663e-07 1.58109e-05 4.17015e-05 8.83552e-07 3.4787905323020537e-06 std 0.00216042 0.00164823 0.000801663 0.00397629 0.00645767 0.000939974 0.0018651516110767118 Horaud x y z rx ry rz 四元数姿态(w,x,y,z) 距离 ------------------ ----------- ------------ ------------ ----------- ------------ ----------- ----------------------------------------------------------------------------------- ------- base_link->camera0 1.07679 -0.255812 -0.282753 1.58732 -0.00459383 2.99338 [0.050284751840709616, 0.05438920546122241, 0.7108475735237441, 0.6994347612730019] 1.14231 base_link->camera1 1.07439 -0.258628 -0.281253 1.59293 -0.0128621 2.99573 [0.04636603172007231, 0.056576420892684484, 0.712645089831574, 0.6977007063494027] 1.14031 base_link->camera2 1.07968 -0.254719 -0.28311 1.58324 0.00294083 2.99409 [0.05281991437740646, 0.05139442015953349, 0.7096336387829558, 0.7007059075884048] 1.14487 mean 1.07695 -0.256386 -0.282372 1.58783 -0.00483837 2.9944 1.142498804721647 var 4.66399e-06 2.71264e-06 6.47123e-07 1.57734e-05 4.16521e-05 9.63469e-07 3.482957458754716e-06 std 0.00215963 0.00164701 0.00080444 0.00397157 0.00645385 0.000981565 0.0018662683244257017 Daniilidis x y z rx ry rz 四元数姿态(w,x,y,z) 距离 ------------------ ----------- ------------ ------------ ----------- ----------- ----------- ----------------------------------------------------------------------------------- ------- base_link->camera0 1.07463 -0.254572 -0.285898 1.58751 -0.00439531 2.99242 [0.05068760881548721, 0.05466745538370949, 0.7108920947166646, 0.6993387343081966] 1.14078 base_link->camera1 1.07171 -0.25776 -0.284007 1.59375 -0.0124814 2.99529 [0.046631649716071685, 0.05661929512649569, 0.7129298432453066, 0.6973885454137881] 1.13827 base_link->camera2 1.07836 -0.253196 -0.286509 1.5839 0.00310724 2.99336 [0.05311918505613697, 0.051614124623514473, 0.7098497129374143, 0.7004482274665209] 1.14414 mean 1.0749 -0.255176 -0.285471 1.58839 -0.00458983 2.99369 1.1410657220011835 var 7.41565e-06 3.65405e-06 1.13457e-06 1.65593e-05 4.052e-05 1.42743e-06 5.787056834031982e-06 std 0.00272317 0.00191156 0.00106516 0.00406931 0.00636553 0.00119475 0.0024056302363480516 [base_hand_to_eye_calib-2] process has finished cleanly log file: /home/ghluck/.ros/log/77ca2d62-fe78-11ec-9ae5-e784b7bf28a6/base_hand_to_eye_calib-2*.log ^C[rosout-1] killing on exit [master] killing on exit文件截图
-
