Hand-eye Calibration

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I did the HandEyeCalibration with a UR10 using a D415 RealSense.
It is correct to use Rodrigues in both cases, but you need to correctly understand the axis vector notation.

Look at the documents in this folder:
https://drive.google.com/drive/folders/1lFQyLcnNux1wvs2O009pqQefMRNRbjkt?usp=sharing

Specifically the UR Angles. The Axis vector need to be scaled before doing Rodrigues. Something like this:

float rv_len = sqrt(pow(theta_rv[0], 2) + pow(theta_rv[1], 2) + pow(theta_rv[2], 2));
float scale = 1 - 2 * PI / rv_len;	
theta_rv = theta_rv * scale;

For more details look at this post:

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