recorder.py 文件源码

def save_transforms(self):
        transformations = {}
        for frame in self.frames:
            try:
                lct = self.tfl.getLatestCommonTime(self.world, frame)
                transform = self.tfl.lookupTransform(self.world, frame, lct)
            except tf.Exception, e:
                transformations[frame] = {"visible": False}
            else:
                transformations[frame] = {"visible": True, "pose": transform}
        sample = {"time": (rospy.Time.now() - self.start_time).to_sec(), "objects": transformations}
        self.transforms.append(sample)