handeye_calibration.py 文件源码

def to_parameters(self):
        """
        Fetches a calibration from ROS parameters in the namespace of the current node into this object.

        :rtype: None
        """
        calib_dict = self.to_dict()

        root_params = ['eye_on_hand', 'tracking_base_frame']
        if calib_dict['eye_on_hand']:
            root_params.append('robot_effector_frame')
        else:
            root_params.append('robot_base_frame')

        for rp in root_params:
            rospy.set_param(rp, calib_dict[rp])

        transf_params = 'x', 'y', 'z', 'qx', 'qy', 'qz', 'qw'

        for tp in transf_params:
            rospy.set_param('transformation/'+tp, calib_dict['transformation'][tp])