A CameraHousingTransformListener gets its pose values from tf. It cannot
change the value in tf because someone else is publishing that value,
controlling the location of the robot holding the camera etc. This object
is intended to be used when the extrinsic camera parameters are not being
determined, but are being used to determine something else.


On Wed, Apr 30, 2014 at 5:53 PM, Shaun Edwards <notifications@github.com>wrote:

> In
> industrial_extrinsic_cal/include/industrial_extrinsic_cal/ros_transform_interface.h:
>
> > +  {
> > +  public:
> > +
> > +    /**
> > +     * @brief constructor
> > +     * @param optical_frame The name of the optical frame defined in the urdf
> > +     * @param optical_frame The name of camera housing frame defined in the urdf
> > +     */
> > +    ROSCameraHousingListenerTInterface(const std::string optical_frame,const std::string housing_frame);
> > +
> > +    /**
> > +     * @brief Default destructor
> > +     */
> > +    ~ROSCameraHousingListenerTInterface()  {  } ;
> > +
> > +    /** @brief  as a listener interface, this does nothing. Transform is defined by the urdf */
>
> What if the Pose conflicts with the URDF.
>
> —
> Reply to this email directly or view it on GitHub<https://github.com/ros-industrial/industrial_calibration/pull/26/files#r12170338>
> .
>