Output of results happens in two places. First, the transform interface
updates the transform. We should probably add some method for writing these
here, but its not obvious how one wants to do it.

On the other hand ceres_blocks knows everything about the problem, and
should be able to save its own results for review.

I don't think the issue is with ceres_blocks, but I think there is a
deficiency in transform interface where the results are not permanent when
you push the transform.
Transform interrface should have push, pull and save.



On Wed, Apr 30, 2014 at 11:36 PM, Shaun Edwards <notifications@github.com>wrote:

> In industrial_extrinsic_cal/src/ceres_blocks.cpp:
>
> > +    {
> > +      ceres::AngleAxisToRotationMatrix(mtarg->targ_->pose_.pb_aa,R);
> > +      ROS_INFO("%s Pose:\n %6.3lf %6.3lf %6.3lf  %6.3lf\n %6.3lf %6.3lf %6.3lf  %6.3lf \n%6.3lf %6.3lf %6.3lf  %6.3lf\n %6.3lf %6.3lf %6.3lf  %6.3lf\n%d points",
> > +	       mtarg->targ_->target_name_.c_str(),
> > +	       R[0],R[3],R[6],mtarg->targ_->pose_.x,
> > +	       R[1],R[4],R[7],mtarg->targ_->pose_.y,
> > +	       R[2],R[5],R[8],mtarg->targ_->pose_.z,
> > +	       0.0,0.0,0.0,1.0,
> > +	       mtarg->targ_->num_points_);
> > +    }
> > +}
> > +using std::string;
> > +using std::ofstream;
> > +using std::endl;
> > +
> > +bool CeresBlocks::writeAllStaticTransforms(string filePath)
>
> Should CeresBlocks be responsible for writing all static transforms to a
> file? How does CeresBlocks even know what format the results should be
> written in.
>
> —
> Reply to this email directly or view it on GitHub<https://github.com/ros-industrial/industrial_calibration/pull/26/files#r12178579>
> .
>