handeye_calibrator.py 文件源码

def _tuple_to_msg_transform(tf_t):
        """
        Converts a tf tuple into a geometry_msgs/Transform message

        :type tf_t: ((float, float, float), (float, float, float, float))
        :rtype: geometry_msgs.msg.Transform
        """
        transl = Vector3(*tf_t[0])
        rot = Quaternion(*tf_t[1])
        return Transform(transl, rot)