本文整理汇总了Python中tf.TransformListener.setTransform方法的典型用法代码示例。如果您正苦于以下问题：Python TransformListener.setTransform方法的具体用法？Python TransformListener.setTransform怎么用？Python TransformListener.setTransform使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类tf.TransformListener的用法示例。
在下文中一共展示了TransformListener.setTransform方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: ORKTabletop
# 需要导入模块: from tf import TransformListener [as 别名]
# 或者: from tf.TransformListener import setTransform [as 别名]
#.........这里部分代码省略.........
if table_corners[i].y < min_y:
min_y = table_corners[i].y
table_dim = Point()
# TODO: if we don't (can't!) compute the height, should we at least give it non-zero depth?
# (would also require shifting the observed centroid down by table_dim.z/2)
table_dim.z = 0.0
table_dim.x = abs(max_x - min_x)
table_dim.y = abs(max_y - min_y)
print "Dimensions: ", table_dim.x, table_dim.y
# Temporary frame used for transformations
table_link = 'table_link'
# centroid of a table in table_link frame
centroid = PoseStamped()
centroid.header.frame_id = table_link
centroid.header.stamp = table_pose.header.stamp
centroid.pose.position.x = (max_x + min_x)/2.
centroid.pose.position.y = (max_y + min_y)/2.
centroid.pose.position.z = 0.0
centroid.pose.orientation.x = 0.0
centroid.pose.orientation.y = 0.0
centroid.pose.orientation.z = 0.0
centroid.pose.orientation.w = 1.0
# generate transform from table_pose to our newly-defined table_link
tt = TransformStamped()
tt.header = table_pose.header
tt.child_frame_id = table_link
tt.transform.translation = table_pose.pose.position
tt.transform.rotation = table_pose.pose.orientation
self.tl.setTransform(tt)
self.tl.waitForTransform(table_link, table_pose.header.frame_id, table_pose.header.stamp, rospy.Duration(3.0))
if self.tl.canTransform(table_pose.header.frame_id, table_link, table_pose.header.stamp):
centroid_table_pose = self.tl.transformPose(table_pose.header.frame_id, centroid)
self.pose_pub.publish(centroid_table_pose)
else:
rospy.logwarn("No transform between %s and %s possible",table_pose.header.frame_id, table_link)
return
# transform each object into desired frame; add to list of clusters
cluster_list = []
for i in range (data.objects.__len__()):
rospy.loginfo("Point clouds %s", data.objects[i].point_clouds.__len__())
pc = PointCloud2()
pc = data.objects[i].point_clouds[0]
arr = pointclouds.pointcloud2_to_array(pc, 1)
arr_xyz = pointclouds.get_xyz_points(arr)
arr_xyz_trans = []
for j in range (arr_xyz.__len__()):
ps = PointStamped();
ps.header.frame_id = table_link
ps.header.stamp = table_pose.header.stamp
ps.point.x = arr_xyz[j][0]
ps.point.y = arr_xyz[j][1]
ps.point.z = arr_xyz[j][2]
if self.tl.canTransform(table_pose.header.frame_id, table_link, table_pose.header.stamp):
ps_in_kinect_frame = self.tl.transformPoint(table_pose.header.frame_id, ps)
else:
rospy.logwarn("No transform between %s and %s possible",table_pose.header.frame_id, table_link)
return
arr_xyz_trans.append([ps_in_kinect_frame.point.x, ps_in_kinect_frame.point.y, ps_in_kinect_frame.point.z])