Implement opencv methods robotworld hand eye camera

[miguelriemoliveira]

Required by #994.

FYI @Kazadhum .

We are interested in having these two additional opencv methods because they are able to estimate the hand to pattern transforms, which means we could use their transform to compute the reprojection error without using the atom estimation.

[miguelriemoliveira]

Hey @Kazadhum ,

this seems to be working fine.

The script is: https://github.com/lardemua/atom/blob/noetic-devel/atom_evaluation/scripts/other_calibrations/cv_eye_to_hand_robot_world.py

I also think I am saving the hand to pattern transform estimation to the dataset, so you can try to use this to see if the evaluation makes more sense.

[Kazadhum]

Hi! I think I found a mistake in the code:

atom/atom_evaluation/scripts/other_calibrations/cv_eye_to_hand_robot_world.py

Lines 154 to 163 in beb0f1b

	available_methods = ['tsai', 'park', 'horaud', 'andreff', 'daniilidis']
	if args['method_name'] not in available_methods:
	atomError('Unknown method. Select one from ' + str(available_methods))
	if args['method_name'] == 'tsai':
	method = cv2.CALIB_ROBOT_WORLD_HAND_EYE_SHAH
	elif args['method_name'] == 'park':
	method = cv2.CALIB_ROBOT_WORLD_HAND_EYE_LI
	else:
	atomError('Unknown method. Select one from ' + str(available_methods))

So the list of available methods should change and the if() statements too, right?

---

changing it to:

    available_methods = ['shah', 'li']
    if args['method_name'] not in available_methods:
        atomError('Unknown method. Select one from ' + str(available_methods))

    if args['method_name'] == 'shah':
        method = cv2.CALIB_ROBOT_WORLD_HAND_EYE_SHAH
    elif args['method_name'] == 'li':
        method = cv2.CALIB_ROBOT_WORLD_HAND_EYE_LI
    else:
        atomError('Unknown method. Select one from ' + str(available_methods))

It now works. Can I push these changes?

[miguelriemoliveira]

Right. Thanks

…

On Tue, Oct 15, 2024, 2:17 PM Diogo Vieira ***@***.***> wrote: Hi! I think I found a mistake in the code: https://github.com/lardemua/atom/blob/beb0f1b8b1e8012f473e0bd3c784f7a341feb8d9/atom_evaluation/scripts/other_calibrations/cv_eye_to_hand_robot_world.py#L154-L163 So the list of available methods should change and the if() statements too, right? — Reply to this email directly, view it on GitHub <#995 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ACWTHVWYVZSISLTVBAGZ5XLZ3UIWNAVCNFSM6AAAAABP65I2QSVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDIMJTHA4TEMJQHA> . You are receiving this because you authored the thread.Message ID: ***@***.***>