button.py 文件源码

def find_button(self):
        cloud = self.zarj.eyes.get_stereo_cloud()
        image, details = self.zarj.eyes.get_cloud_image_with_details(cloud)
        things = Things(image, details, 2, True)


        if things.array_button is not None and things.array_button.computed_center is not None:
            button = PointStamped()
            button.header = cloud.header
            button.point.x = things.array_button.computed_center[0]
            button.point.y = things.array_button.computed_center[1]
            button.point.z = things.array_button.computed_center[2]
            button_in_foot = self.zarj.transform.tf_buffer.transform(button, self.zarj.walk.lfname)
            p = button_in_foot.point
            print "JPW sez button is {}/{}/{}".format(p.x, p.y, p.z)