now correctly verifies if the hand link is in the chain from the patt…

…ern to the base (#943)
lardemua · May 5, 2024 · f3c7732 · f3c7732
1 parent 7e5a979
commit f3c7732
Showing 1 changed file with 2 additions and 4 deletions.
diff --git a/atom_evaluation/scripts/other_calibrations/cv_eye_to_hand.py b/atom_evaluation/scripts/other_calibrations/cv_eye_to_hand.py
@@ -111,11 +111,9 @@ def main():
     elif args['method_name'] == 'daniilidis':
         method = cv2.CALIB_HAND_EYE_DANIILIDIS
 
-    # Check if the hand link is in the chain from the base to the pattern
-
-    # TODO: try/except here because the pattern might not be in this chain and an atomError message is clearer than the networkX exception error message
+    # Check if the hand link is in the chain from the base to the pattern (since transforms involving the pattern aren't included in the transformation pool in the collections, it uses the pattern's parent link for the check)
     chain = getChain(from_frame=args['base_link'],
-                     to_frame=dataset['calibration_config']['calibration_patterns'][args['pattern']]['link'],
+                     to_frame=dataset['calibration_config']['calibration_patterns'][args['pattern']]['parent_link'],
                      transform_pool=dataset['collections'][selected_collection_key]['transforms'])
 
     hand_frame_in_chain = False