results of each calibration are very different

[lin-fangzhou]

I calibrated the robotic arm, but each time there were huge differences in the results. One noteworthy value is that my camera was always fixed on my hand, and I calibrated it 6 times as follows:
result 1
translation:
x: 0.17973868323082823
y: 0.006782370501410505
z: 0.07438441881749708
rotation:
x: -0.45153815132695097
y: 0.5453857381574472
z: -0.43437538148312277
w: 0.5567636145368047

result 2
translation:
x: -0.06653427597392521
y: 0.025643998598674816
z: 0.06696783370561568
rotation:
x: -0.5327081554416593
y: 0.5008184543910814
z: -0.46062857442271155
w: 0.5032138842406616

result 3
translation:
x: 0.0769910508819065
y: 0.12000227049890966
z: 0.02890224129850164
rotation:
x: -0.506780500127259
y: 0.4405819116710794
z: -0.6227926098119726
w: 0.4014853284525028

result 4
translation:
x: -0.010360640808195888
y: 0.0058058783075903
z: 0.07165832040066378
rotation:
x: -0.4284056687898974
y: 0.5838619571409756
z: -0.382383827061095
w: 0.5738958152437608

result 5
translation:
x: 0.05797963988648782
y: 0.06623176322982123
z: 0.021080226239054548
rotation:
x: -0.4491078296992648
y: 0.5201030730048655
z: -0.5053875608486993
w: 0.5218988063725695

result 6
translation:
x: 0.01822461983207547
y: 0.023970008797324964
z: 0.05262544780092089
rotation:
x: -0.5289914513286127
y: 0.5074252851659499
z: -0.4647529069925332
w: 0.4966813463756137

[marcoesposito1988]

Hi @lin-fangzhou,

there are many factors that can affect the calibration accuracy. Please check if the troubleshooting helps.

If you are getting results that different greatly from each other, something fundamental should be wrong. Please check that your marker tracking is working (the tracking software keeps giving the same result if the marker doesn't move), that the marker size is correct, that the camera is solidly attached to the robot, that the marker doesn't move, that you wait until the system reaches a steady state before acquiring a sample, and that the samples that you take are distributed maximizing the rotation about each of the 3 axes.