Evaluate external calibrations in the hand-eye activity.
What does this MR do?
Closes #125 (closed).
Adds the possibility to load the hand-eye X matrix for evaluation.
Once loaded the Z matrix is computed using the current tracked position and camera pose.
The camera can than be moved around and the app will display the reprojection and reprojection error.
How to test it?
- Download this archice.
- Start ARCalibration-0.6
- Launch the hand eye activity with the
storzCalib.xml
calibration. - Set the chessboard parameters to 9x6 with a 10mm square size.
- Load the
Frames
folder from the archive as a video. - Load the
pose.csv
file in the following dialog. - Play the video with the
OpenCV frame by frame grabber
. - Load the StorzMarkerEndoCalib.trf (click on the plus with the X)
- Switch images and evaluate the calibration (should be kind of crappy).