`GetRefinedCameraCalibration` Class

Reads one camera's refined poses out of a refined calibration. More...

Declaration

class moveit_pro::behaviors::GetRefinedCameraCalibration { ... }

Included Headers

#include <get_refined_camera_calibration.hpp>

Base class

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

Public Constructors Index

	GetRefinedCameraCalibration (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for the GetRefinedCameraCalibration Behavior. More...

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

static BT::PortsList	providedPorts ()


static BT::KeyValueVector	metadata ()

Description

Reads one camera's refined poses out of a refined calibration.

The pose outputs are stamped with the parent frames the result carries for the camera; only the frame name is set, the timestamp stays zero (which TF consumers read as "latest available"). The output port names match the Solve Behaviors' so a refined result can overwrite the closed-form poses on the same blackboard entries.

Data Port Name	Port Type	Object Type
refined_calibration	input	moveit_pro::hand_eye_calibration::BundleAdjustmentResult
camera_name	input	std::string
calibrated_camera_pose	output	geometry_msgs::msg::PoseStamped
calibrated_board_pose	output	geometry_msgs::msg::PoseStamped
rms_reprojection_error	output	double
initial_rms_reprojection_error	output	double
used_sample_count	output	int

Definition at line 36 of file get_refined_camera_calibration.hpp.

Public Constructors