手眼标定handeye-calib包使用问题

GHluck

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

小鱼

@GHluck 把具体结果扔一个出来我瞅瞅，太久了给忘了

GHluck

@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

小鱼

@GHluck 在手眼标定handeye-calib包使用问题中说：

base_hand_to_eye_test_data

看数据加载，这个是眼在手外的