handeye_calibration.py 文件源码

def from_parameters(self):
        """
        Stores this calibration as ROS parameters in the namespace of the current node.

        :rtype: None
        """
        calib_dict = {}

        root_params = ['eye_on_hand', 'tracking_base_frame']
        for rp in root_params:
            calib_dict[rp] = rospy.get_param(rp)

        if calib_dict['eye_on_hand']:
            calib_dict['robot_effector_frame'] = rospy.get_param('robot_effector_frame')
        else:
            calib_dict['robot_base_frame'] = rospy.get_param('robot_base_frame')

        transf_params = 'x', 'y', 'z', 'qx', 'qy', 'qz', 'qw'
        calib_dict['transformation'] = {}
        for tp in transf_params:
            calib_dict['transformation'][tp] = rospy.get_param('transformation/'+tp)

        self.from_dict(calib_dict)