CameraRig

class CameraRig(BaseModel):
            """
            CameraRig is a set of cameras mounted together.
            Each camera is positioned at a RigidTransform relative to an origin point
            which is where the physical ToolPose is controlled via the robot.
            """
            
            cameras: List[CameraPinholeRadtan]
            camera_poses: List[RigidTransform]
            rig_target_point: Optional[RigidTransform] = None

description

CameraRig is a set of Camera[] mounted together. Each Camera is positioned at RigidTransform relative to an origin point which is where the physical ToolPose is controlled via the robot.

derived from the Kalibr calibration output