From 022f8e4b780bd38bd0f9ba67287df6da9c16d1fa Mon Sep 17 00:00:00 2001 From: Kazadhum Date: Mon, 13 May 2024 15:12:04 +0100 Subject: [PATCH] renamed script to mention that it's eye-in-hand #939 --- .../{rwhe_calib_ali.py => ali_eye_in_hand.py} | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) rename atom_evaluation/scripts/other_calibrations/{rwhe_calib_ali.py => ali_eye_in_hand.py} (98%) diff --git a/atom_evaluation/scripts/other_calibrations/rwhe_calib_ali.py b/atom_evaluation/scripts/other_calibrations/ali_eye_in_hand.py similarity index 98% rename from atom_evaluation/scripts/other_calibrations/rwhe_calib_ali.py rename to atom_evaluation/scripts/other_calibrations/ali_eye_in_hand.py index 23aae6ac..3ac54c97 100755 --- a/atom_evaluation/scripts/other_calibrations/rwhe_calib_ali.py +++ b/atom_evaluation/scripts/other_calibrations/ali_eye_in_hand.py @@ -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) @@ -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)