detection.py 文件源码

def msgToPose(self, detection_pose):
        pose = Pose()

        pose.position.x = detection_pose.x / 1000
        pose.position.y = detection_pose.y / 1000

        if hasattr(detection_pose, 'orientation'):
            quat_tuple = quaternion_from_euler(0.0, 0.0, detection_pose.orientation)
            pose.orientation = Quaternion(*quat_tuple)

        return pose