Samples: Residuals written to yaml in hand-eye gui

Save per-pose hand-eye residuals to yaml file

Author: csu-bot-zivid

README.md

@@ -186,7 +186,7 @@ from the camera can be used.
           - [save\_load\_transformation\_matrix](https://github.com/zivid/zivid-python-samples/tree/master/modules/zividsamples/save_load_transformation_matrix.py) -
             assert\_affine\_matrix\_and\_save(transformation\_matrix.as\_matrix(),
             yaml\_path)
-          - [settings\_utils](https://github.com/zivid/zivid-python-samples/tree/master/modules/zividsamples/settings_utils.py) - categories = zivid.presets.categories2d(camera.info.model)
+          - [save\_residuals](https://github.com/zivid/zivid-python-samples/tree/master/modules/zividsamples/save_residuals.py) - per\_pose\_residuals = \[ - [settings\_utils](https://github.com/zivid/zivid-python-samples/tree/master/modules/zividsamples/settings_utils.py) - categories = zivid.presets.categories2d(camera.info.model)
           - [transformation\_matrix](https://github.com/zivid/zivid-python-samples/tree/master/modules/zividsamples/transformation_matrix.py) - Convenience functions and a class for 4x4 transformation
             matrices.
           - [white\_balance\_calibration](https://github.com/zivid/zivid-python-samples/tree/master/modules/zividsamples/white_balance_calibration.py) - Balance color for 2D capture using white surface as

modules/zividsamples/gui/hand_eye_calibration_gui.py

@@ -31,6 +31,7 @@
 from zividsamples.gui.show_yaml_dialog import show_yaml_dialog
 from zividsamples.gui.tab_with_robot_support import TabWidgetWithRobotSupport
 from zividsamples.save_load_transformation_matrix import load_transformation_matrix, save_transformation_matrix
+from zividsamples.save_residuals import save_residuals
 from zividsamples.transformation_matrix import TransformationMatrix
 
 
@@ -325,6 +326,10 @@ def on_calibrate_button_clicked(self):
                 hand_eye_transformation_matrix = TransformationMatrix.from_matrix(calibration_result.transform())
                 hand_eye_transform_path = self.data_directory / "hand_eye_transform.yaml"
                 save_transformation_matrix(hand_eye_transformation_matrix, hand_eye_transform_path)
+
+                hand_eye_residuals_path = self.data_directory / "hand_eye_residuals.yaml"
+                save_residuals(calibration_result.residuals(), hand_eye_residuals_path)
+
                 self.pose_pair_selection_widget.set_residuals(calibration_result.residuals())
                 show_yaml_dialog(hand_eye_transform_path, "Hand Eye Calibration Transform")
                 self.update_instructions(

modules/zividsamples/save_residuals.py

@@ -0,0 +1,26 @@
+from pathlib import Path
+from typing import Iterable
+
+import yaml
+
+
+def save_residuals(residuals: Iterable, yaml_path: Path) -> None:
+    """Save per-pose hand-eye residuals to a YAML file.
+
+    Args:
+        residuals: Iterable of residual objects with `rotation()` and `translation()` methods.
+        yaml_path: Destination YAML file path.
+
+    """
+    per_pose_residuals = [
+        {
+            "rotation_deg": float(r.rotation()),
+            "translation_mm": float(r.translation()),
+        }
+        for r in residuals
+    ]
+
+    data = {"per_pose_residuals": per_pose_residuals}
+
+    with open(yaml_path, "w", encoding="utf-8") as file:
+        yaml.safe_dump(data, file, sort_keys=False)