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IntelligentRoboticsLabs / gb_visual_detection_3d

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Issues of working_frame #44

Closed Litao917 closed 3 years ago

Litao917 commented 3 years ago

Hi developer,

Thanks for your amazing work. I was trying to crop the pointcloud2 published by realsense d435i in terms of the boundingbox_3d, so I changed the _workingframe in darknet_3d.yaml from camera_link to the camera_depth_optical_frame. But after that, I noticed that the boundingbox_markers in RVIZ are not precise as before. The boxes became larger than that with working_frame of camera_link.

Any clues? Thank you in advance!

Litao917 commented 3 years ago

Wrong boundboxes under working_frame of camera_depth_optical_frame

Screenshot from 2021-01-21 01-33-32

Correct boundboxes under working_frame of camera_link

camera_lin

Litao917 commented 3 years ago

@fgonzalezr1998

fmrico commented 3 years ago

Hi!!

Remember that this software requires that the X-axes points directly to the scene.

Litao917 commented 3 years ago

Hi!!

Remember that this software requires that the X-axes points directly to the scene.

Hi fmrico,

After changed the working frame, the frame can be changed to the optical frame of Z-axis pointing out of the screen.

fgonzalezr1998 commented 3 years ago

Hi @Litao917 The algorithm of this package needs that the bounding boxes be calculated in a frame whose axes are like was described in previous issues. If you use a different frame, the bounding boxes will be calculated wrong. So, if you need the bounding boxes in a different, frame, you must do a node that subscribes to the boxes and transform its coordinates to the new frame

Litao917 commented 3 years ago

Hi @Litao917 The algorithm of this package needs that the bounding boxes be calculated in a frame whose axes are like was described in previous issues. If you use a different frame, the bounding boxes will be calculated wrong. So, if you need the bounding boxes in a different, frame, you must do a node that subscribes to the boxes and transform its coordinates to the new frame

Hi Fernando, Thank you for your reply. Copy that. I will write a new node to transform them.