After performing eye-in-hand calibration between the D435 camera and the RML robotic arm in the real world, I converted the resulting matrix into the relative pose between the camera and link6 (the end-effector of the robotic arm).However, I am not sure whether this matrix represents the transformation from the optical frame of the camera to the end-effector frame, or some other frame.
In addition, after transforming according to the optical frame convention, I found that in Gazebo the optical frame of the D435 and the robot end-effector only have a translation along one axis, whereas in the real world there is an offset along one axis between the physical center of the camera and the robot end-effector.
The optical frame of the D435 only has a spatial rotation relative to its camera_link, with no translation vector.My goal is to adapt the real-world calibration matrix for simulation so that after proper alignment, I can use the real-world matrix for related training.
After performing eye-in-hand calibration between the D435 camera and the RML robotic arm in the real world, I converted the resulting matrix into the relative pose between the camera and link6 (the end-effector of the robotic arm).However, I am not sure whether this matrix represents the transformation from the optical frame of the camera to the end-effector frame, or some other frame.
In addition, after transforming according to the optical frame convention, I found that in Gazebo the optical frame of the D435 and the robot end-effector only have a translation along one axis, whereas in the real world there is an offset along one axis between the physical center of the camera and the robot end-effector.
The optical frame of the D435 only has a spatial rotation relative to its camera_link, with no translation vector.My goal is to adapt the real-world calibration matrix for simulation so that after proper alignment, I can use the real-world matrix for related training.