findbutton.py 文件源码

def handle_mouse(event, x, y, flags, param):
    global details
    global cloud
    global ME
    if event == cv2.EVENT_LBUTTONUP:
        point = PointStamped()
        point.header = cloud.header
        point.point.x = details[y, x][0]
        point.point.y = details[y, x][1]
        point.point.z = details[y, x][2]

        print x, y, details[y,x]
        result = ME.transform.tf_buffer.transform(point, 'rightIndexFingerPitch1Link')
        print result

#leftimg,_ = ME.eyes.get_images()
#img = zarj.navigation.PERSPECTIVE_AHEAD.build_rangefinding_image(leftimg)
#cv2.imshow("leftimg", img)

#img = zarj.navigation.PERSPECTIVE_AHEAD.build_rangefinding_image(raw_img)