army.py 文件源码

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

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