Python 属性错误:';点';对象没有属性';点';
我正在使用将点从源帧转换为目标帧。下面是代码片段:Python 属性错误:';点';对象没有属性';点';,python,ros,Python,Ros,我正在使用将点从源帧转换为目标帧。下面是代码片段: import tf2_ros import tf2_geometry_msgs transform = tf_buffer.lookup_transform(target_frame, source_frame, rospy.Time(0), rospy.Duration(1.0)) pose_transformed = tf2_geometry_msgs.do_transform_point(point_wrt_kinect, transf
import tf2_ros
import tf2_geometry_msgs
transform = tf_buffer.lookup_transform(target_frame, source_frame, rospy.Time(0), rospy.Duration(1.0))
pose_transformed = tf2_geometry_msgs.do_transform_point(point_wrt_kinect, transform)
print pose_transformed
该代码引发以下错误:
Traceback (most recent call last):
File "q1.py", line 29, in <module>
pose_transformed = tf2_geometry_msgs.do_transform_point(point_wrt_kinect, transform)
File "/opt/ros/indigo/lib/python2.7/dist-packages/tf2_geometry_msgs/tf2_geometry_msgs.py", line 59, in do_transform_point
p = transform_to_kdl(transform) * PyKDL.Vector(point.point.x, point.point.y, point.point.z)
AttributeError: 'Point' object has no attribute 'point'
有什么解决方法吗?进行点变换(点变换,变换)
point_wrt_kinect是point类的对象。在文档中,它应该是点戳类对象。这是文档错误。
您必须创建PointStamped类的对象,而不是Point类
from geometry_msgs.msg import Point
point_wrt_kinect = Point()
point_wrt_kinect.x = -0.41
point_wrt_kinect.y = -0.13
point_wrt_kinect.z = 0.77