zacharytaylor / camera-to-arm-calibration Goto Github PK

i think line 215 should be

 warning(['only %d checkerboards found.\n',...
        '10 images is the minimum number of boards recommended for an accurate calibration (though more is better, orignal calibration used 50+)\n',...
        'Check your images and keep in mind, lighting, occlusions and backgrounds with roughly checkered patterns'], sum(imagesUsed));

Hello,
I used this algorithm to perform hand eye calibration with UR 16e robot and ZED usb camera. I collected over 100 images and recorded transformation matrix of robot base ot end effector using following function.
function t_matrix =TransformationMatrix(pose)
x = pose(1);y = pose(2);z = pose(3);roll = pose(4);pitch = pose(5);yaw = pose(6);
t_matrix = eye(4);
R_x = [1, 0,0; 0, cos(roll), -sin(roll);0 sin(roll), cos(roll)]
R_y = [cos(pitch), 0, sin(pitch);0,1,0; -sin(pitch),0,cos(pitch)]
R_z = [cos(yaw), -sin(yaw), 0; sin(yaw), cos(yaw), 0; 0 ,0, 1]
R_orientation = R_zR_y
R_orientation = R_orientationR_x
t_matrix(1:3,1:3) = R_orientation;
t_matrix(1:3, 4) =[x, y, z]
end
However, I error could not converge to less than 50 pixels which is much for my application. Is anyone also in similar situation?
or has anyone successfully got nice result using different transformation matrix or so?

Best Regards

How do we get this .mat file? Am I missing something? Rest everything runs just fine.