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renamed script to mention that it's eye-in-hand #939
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Kazadhum committed May 13, 2024
1 parent c0f0185 commit 022f8e4
Showing 1 changed file with 4 additions and 1 deletion.
Original file line number Diff line number Diff line change
Expand Up @@ -88,7 +88,8 @@ def li_calib(AA,BB):
# The equivalent of the \ operator in MATsingular value decomposition ofLAB is the numpy linalg.solve function
x = np.linalg.lstsq(A,b, rcond=None)
x = x[0] # x[0] is all we need, as it is the array returned by matlab's "\""

print(x)

# Get X
X = x[0:9].reshape((3,3)).T
[u,s,v] = np.linalg.svd(X)
Expand Down Expand Up @@ -212,6 +213,8 @@ def main():

tf_pattern2opticalframe = traslationRodriguesToTransform(tvec, rvec)

# TODO: Remove these comments once everything's working
### Turns out we probably don't need to invert B (the translation in the TF looks "fixed" now)
# # B is the inverse of pattern2opticalframe
# B = np.linalg.inv(tf_pattern2opticalframe)
# print(B)
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