CalibrateCameraPose Class

Calibrates the camera optical pose using AprilTag poses of the calibration tool held by the robot end effector. More...

Declaration

class moveit_pro::behaviors::CalibrateCameraPose { ... }

Included Headers

#include <calibrate_camera_pose.hpp>

Base class

class	SharedResourcesNode<BehaviorTreeNodeT>
	The SharedResourcesNode class provides a BehaviorContext object when constructing a BehaviorTree.Cpp node. More...

Public Constructors Index

	CalibrateCameraPose (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > &shared_resources)

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Description

Calibrates the camera optical pose using AprilTag poses of the calibration tool held by the robot end effector.

Deprecated

Use the Calibrate Eye To Hand Camera Objective instead. This Behavior will be removed in a future version.

Data Port Name	Port Type	Object Type
right_tag_pose	input	geometry_msgs::msg::PoseStamped
left_tag_pose	input	geometry_msgs::msg::PoseStamped
bottom_tag_pose	input	geometry_msgs::msg::PoseStamped
calibration_tool_frame	input	std::string
base_link	input	std::string
camera_optical_frame	input	std::string
computed_pose	output	geometry_msgs::msg::PoseStamped

Definition at line 32 of file calibrate_camera_pose.hpp.

Public Constructors

CalibrateCameraPose()

moveit_pro::behaviors::CalibrateCameraPose::CalibrateCameraPose (const std::string & name, const BT::NodeConfiguration & config, const std::shared_ptr< moveit_pro::behaviors::BehaviorContext > & shared_resources)

Declaration at line 35 of file calibrate_camera_pose.hpp, definition at line 38 of file calibrate_camera_pose.cpp.

Public Member Functions

tick()

BT::NodeStatus moveit_pro::behaviors::CalibrateCameraPose::tick ()

Declaration at line 42 of file calibrate_camera_pose.hpp, definition at line 73 of file calibrate_camera_pose.cpp.

Public Static Functions

metadata()

BT::KeyValueVector moveit_pro::behaviors::CalibrateCameraPose::metadata ()

static

Declaration at line 40 of file calibrate_camera_pose.hpp, definition at line 65 of file calibrate_camera_pose.cpp.

providedPorts()

BT::PortsList moveit_pro::behaviors::CalibrateCameraPose::providedPorts ()

static

Declaration at line 38 of file calibrate_camera_pose.hpp, definition at line 44 of file calibrate_camera_pose.cpp.

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The documentation for this class was generated from the following files:

• calibrate_camera_pose.hpp
• calibrate_camera_pose.cpp

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