hand2eyecalib
Different Solvers for AX=XB problem forumation of hand2eye calibratiob i.e A fixed camera and calibration tag attached to the end-effector. Also a RANSAC scheme to choose best A,B pairs.
Solvers Available
- Daniilidis1999
- ParkBryan1994
- TsaiLenz1989
Dependencies
- aruco_detect
- libfranka
- python zmq
for data collection in simulation
- franka_ros
- gazebo
Python Dependenices:
- scipy
Usage
Collect data:
With real real robot:
- build and run server in the computer connected to the robot- either NUC/microPC
cd <path to where you cloned this repo>/libfranka_NUC/
mkdir build
cd build
cmake ..
make
./franka_control
- run aruco detection node, we are using aruco tags with dictionary (DICT_4X4_1000) and fiducial_len as 0.2m
roslaunch aruco_detect aruco_detect_calib.launch
- run the data collection script
python CollectData.py
move the end effector ~10 poses and press enter at each pose to store data for calibration.
with simulation:
- launch simulation
roslaunch franka_gazebo panda.launch x:=-0.5 \
world:=/home/ruthz/utm/base_ws/src/franka_ros/franka_gazebo/world/stone.sdf \
controller:=cartesian_impedance_example_controller \
rviz:=true
- run aruco detection node
roslaunch aruco_detect aruco_detect_calib.launch
- run data collection script
python SimCollectData.py
move the end effector using the interactive marker to ~10 poses and press enter at each pose to store data for calibration.
Calibrate:
Enter the correct data file's path in the Calibrate.py script and run
python Calibrate.py
Notes:
- If you have an error with Yaml as-
TypeError: load() missing 1 required positional argument: 'Loader'
edit this line in "/opt/ros/noetic/lib/python3/dist-packages/tf/listener.py"
data = yaml.load(self._buffer.all_frames_as_yaml()) or {}
to
data = yaml.safe_load(self._buffer.all_frames_as_yaml()) or {}