eyes_qual.py 文件源码

def build_point(self, x, y, z, header):
        """ Take an X,Y,Z and convert it into a head point """
        point = PointStamped()
        point.header = header
        point.point.x = x
        point.point.y = y
        point.point.z = z
        head_pnt = self.tf.tf_buffer.transform(point, self.frame_id)
        head_pnt.header.seq = header.seq
        return head_pnt