Confuse about the reslut

[lixiny]

Great work ! Thanks for sharing.
however in your terminal session the Result shows the tf from /ar_marker_0 to /ee_link:, how ever in the eye-in-hand usage we really care about the tf from /ee_link to /camera_link, any suggestion?

[ghost]

Hey, Did u solve this problem? I need transformation from /ee_link to /camera_link too.

[SarfarazHabib]

Hey, Did you get the answer for this ??

[lixiny]

Hi @SarfarazHabib. I did some modification so the results show transformation from /ee_link to /camera_link too. please follow：

https://github.com/lixiny/Handeye-Calibration-ROS

in my repo.

Thanks for the jhu-lcsr' s original release.

[SarfarazHabib]

Hey @lixiny Thanks for your help. It works for me now :)

[PeakDing]

Hey @lixiny can you explain a little how you solve the problem with your handeye_online,launch, Thanks

[lixiny]

Hi, @PeakDing , I think I only modify the handeye_calibration.cpp
from:
https://github.com/jhu-lcsr/handeye_calib_camodocal/blob/master/src/handeye_calibration.cpp
to
https://github.com/lixiny/Handeye-Calibration-ROS/blob/master/src/handeye_calib_marker/src/handeye_calibration.cpp

Thanks for the jhu-lcsr' s original release.

[FrankLin9981]

Hi, @lixiny , your solution really works for me now. Thanks a lot!
However, I still can't figure out why this simple modification can make the whole thing work.
Could you briefly explain the reason behind?
I will appreciate it.

[lixiny]

Hi, @FrankLin9981 , I suggest you to visualize the transformations by drawing it down or using RVIZ. I drew the transformations of the: AX=XB and found that the original implementation (may) has tiny little bug on the problem of eye-in-hand.

hope this can help you.