progress on handeye calibration

lardemua · Mar 27, 2024 · 729c21b · 729c21b
1 parent e66982f
commit 729c21b
Showing 1 changed file with 12 additions and 0 deletions.
diff --git a/atom_evaluation/scripts/other_calibrations/cv_handeye_calib.py b/atom_evaluation/scripts/other_calibrations/cv_handeye_calib.py
@@ -66,7 +66,19 @@ def cvHandEyeCalibrate(objp, dataset, camera, pattern, number_of_corners):
         tmp_undistorted_imgpoints_camera = cv2.undistortPoints(imgpoints_camera[i], K, D)
         undistorted_imgpoints_camera.append(tmp_undistorted_imgpoints_camera)
 
+    #####################################
+    # Get transform from base to cam (Z)
+    #####################################
+
+    # Hard coded for now
+    tmp_transforms = dataset['collections']['006']['transforms']
+    base_T_cam = getTransform('base_link', 'rgb_world_link', tmp_transforms)
+    print(base_T_cam)
     exit(0)
+
+    #####################################
+    # Get transform from 
+
 
     ########################################################################