detection.py 文件源码

def convertMsgToPoseArray(time, id_list, detection_msg):
    # return each robot's PoseArray

    # instatinate PoseMaker
    robot_poses = {}
    for i in id_list:
        robot_poses[i] = PoseMaker(time, 'map')

    # change detection_msg to PoseArray
    for robot in detection_msg:
        if robot.robot_id in id_list:
            robot_poses[robot.robot_id].add(robot)

    # align PoseArrays
    pose_arrays = {}
    for i in id_list:
        pose_arrays[i] = robot_poses[i].get()

    return pose_arrays