layer_server.py 文件源码

def to3dPoints(points_2d):
    """Simple function to take list of 2d coordinates and output list of 3d ros points"""

    points_3d = []
    for (x,y) in points_2d:
        p = Point() 
        p.x = x
        p.y = y
        p.z = 0
        points_3d.append(p)    
    return points_3d