Programmatic Hand-Eye Calibration

[belalhmedan90]

Hi,

I am trying to calibrate zivid (Eye to Hand) from your code sample Programmatic Hand-Eye Calibration, I re-wrote it to work with ROS1 and get TF between "root_link" and "link7", I attached the calibration board to link7, and collected this dataset however the resultant calibration looks incorrect!

I created this repo with code I used.

Can you please tell me what might be the issue in my Eye to Hand Calibration ?

ps: for reference approximate calibration is :

{
	"camera_frame" : "zivid_optical_frame",
	"camera_name" : "zivid",
	"date" : "2026-03-19-15-23-14",
	"pose" : 
	{
		"orientation" : 
		{
			"w" : -0.0016311168706209316,
			"x" : 0.99942884607536953,
			"y" : 0.0019089382683591481,
			"z" : 0.03369980778724626
		},
		"position" : 
		{
			"x" : -0.28804258979885844,
			"y" : -0.8964811855780318,
			"z" : 1.6909579010546876
		}
	},
	"reference_frame" : "root_link"
}

[TTPinto]

Hello dear @belalhmedan90.
Would you be so kind and take this through the official channel?
customersuccess@zivid.com

This will create a support ticket so we have the right people to support you.
You just need to say that you have reached out via GitHub and I will put all of this information on the created ticket.

Thank you in advance.