handeye_calibration.py 文件源码

def from_dict(self, in_dict):
        """
        Sets values parsed from a given dictionary.

        :param in_dict: input dictionary.
        :type in_dict: dict[string, string|dict[string,float]]

        :rtype: None
        """
        self.eye_on_hand = in_dict['eye_on_hand']
        self.transformation = TransformStamped(
            child_frame_id=in_dict['tracking_base_frame'],
            transform=Transform(
                Vector3(in_dict['transformation']['x'],
                        in_dict['transformation']['y'],
                        in_dict['transformation']['z']),
                Quaternion(in_dict['transformation']['qx'],
                           in_dict['transformation']['qy'],
                           in_dict['transformation']['qz'],
                           in_dict['transformation']['qw'])
            )
        )
        if self.eye_on_hand:
            self.transformation.header.frame_id = in_dict['robot_effector_frame']
        else:
            self.transformation.header.frame_id = in_dict['robot_base_frame']