serializers.py 文件源码

def __get_search_grid(cls, data, frame):
        """
        Deserializes a the search grid into a polygon message.

        Args:
            data: List of dictionaries corresponding to the search grid points.
            frame: Frame for the polygon.

        Returns:
            Message of type PolygonStamped with the bounds of the search grid.
        """
        header = Header()
        header.stamp = rospy.get_rostime()
        header.frame_id = frame

        search_grid = GeoPolygonStamped()
        search_grid.header = header

        for point in data:
            boundary_pnt = GeoPoint()

            altitude = feet_to_meters(point["altitude_msl"])

            boundary_pnt.latitude = point["latitude"]
            boundary_pnt.longitude = point["longitude"]
            boundary_pnt.altitude = altitude

            search_grid.polygon.points.append(boundary_pnt)

        return search_grid