Coordination of Objects is different in PCL Rviz and Gazebo image_raw

introlab / find-object

Find-Object project

http://introlab.github.io/find-object/

BSD 3-Clause "New" or "Revised" License

448 stars 189 forks source link

Coordination of Objects is different in PCL Rviz and Gazebo image_raw #117

Closed karhong-sam closed 3 years ago

karhong-sam commented 3 years ago

Hi there,

I'm facing issues on the camera view in rviz where the objects faced side way, but the image displayed from gui is normal which is a top view. I'm trying to get the coordinates of object via TF for pick and place. Very appreciate for the suggestion to mitigate this error. Here I attach the screenshot of gui and rviz together with camera code.

coordinates_from_rviz find-object-2d

code

karhong-sam commented 3 years ago

Managed to resolve the issue, here's what I tried:

Add another joint and link "camera_frame_optical" to the existing "camera" link
Change the frameName to "camera_frame_optical" in camera .so

Here is the snippet from my changes (red square) camera plugin

And the result from rviz new view from pcl rviz

I hope this will helps who have the same issue on camera in simulation