pose_utils.py 文件源码

def get_mean_point(array_points):
    x_array = []
    y_array = []
    z_array = []
    for point in array_points:
        x_array.append(point.x)
        y_array.append(point.y)
        z_array.append(point.z)

    point_mean = Point()
    point_mean.x = np.mean(x_array)
    point_mean.y = np.mean(y_array)
    point_mean.z = np.mean(z_array)

    point_std = Point()
    point_std.x = np.mean(x_array)
    point_std.y = np.mean(y_array)
    point_std.z = np.mean(z_array)

    return (point_mean, point_std)