handeye_calibration.py 文件源码

def __init__(self,
                 eye_on_hand=False,
                 robot_base_frame=None,
                 robot_effector_frame=None,
                 tracking_base_frame=None,
                 transformation=None):
        """
        Creates a HandeyeCalibration object.

        :param eye_on_hand: if false, it is a eye-on-base calibration
        :type eye_on_hand: bool
        :param robot_base_frame: needed only for eye-on-base calibrations: robot base link tf name
        :type robot_base_frame: string
        :param robot_effector_frame: needed only for eye-on-hand calibrations: robot tool tf name
        :type robot_effector_frame: string
        :param tracking_base_frame: tracking system tf name
        :type tracking_base_frame: string
        :param transformation: transformation between optical origin and base/tool robot frame as tf tuple
        :type transformation: ((float, float, float), (float, float, float, float))
        :return: a HandeyeCalibration object

        :rtype: easy_handeye.handeye_calibration.HandeyeCalibration
        """

        if transformation is None:
            transformation = ((0, 0, 0), (0, 0, 0, 1))

        self.eye_on_hand = eye_on_hand
        """
        if false, it is a eye-on-base calibration

        :type: bool
        """

        self.transformation = TransformStamped(transform=Transform(
            Vector3(*transformation[0]), Quaternion(*transformation[1])))
        """
        transformation between optical origin and base/tool robot frame

        :type: geometry_msgs.msg.TransformedStamped
        """

        # tf names
        if self.eye_on_hand:
            self.transformation.header.frame_id = robot_effector_frame
        else:
            self.transformation.header.frame_id = robot_base_frame
        self.transformation.child_frame_id = tracking_base_frame

        self.filename = HandeyeCalibration.DIRECTORY + '/' + rospy.get_namespace().rstrip('/').split('/')[-1] + '.yaml'