search

introlab / find-object

Find-Object project
http://introlab.github.io/find-object/
BSD 3-Clause "New" or "Revised" License
446 stars 189 forks source link

find_object_3d MultiDetection #111

Open taletovic opened 3 years ago

taletovic commented 3 years ago

Hello @matlabbe, first thank for your work, much appreciated.

I've followed your MultiDetection tutorial. And it works with find_object_2d.

If I use the same objects in find_objects_3d I see that they are being detected using rosrun find_object_2d print_objects_detected but the TF information is only published for one object (first detected). Is there any possibility to get TFs for all objects detected?

Thanks in advance.

matlabbe commented 3 years ago

Looking at the code: https://github.com/introlab/find-object/blob/856d7f0d62c4fe5a7606a2ce6a0f5c9dd6fd80fa/src/ros/FindObjectROS.cpp#L118

It seems that if the same object is observed twice, there will be 2 TFs. The multisuffix should be set to a letter. However, there is no guarantee that object 1 an 1_b will be also the same objects (or same order) than 1 and 1_b in the next image.