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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

Parent coordinates editable? #140

Closed BruttherJOE closed 1 year ago

BruttherJOE commented 1 year ago

image

Hi, firstly, thank you for releasing this package, as it works wonderfully. I have just known about this and have begun to explore the package.

My question is, is the parent frame for the detected objects editable? I could not find anything about this in the .ini file or in the node bringup I did. Where is this variable referenced? hovering above it in rviz tells me that this is not editable. I would like to use the parent coordinates = camera_link or world instead if it is possible (unless someone tells me this is bad practice)

BruttherJOE commented 1 year ago

Ok, this is my bad and I just realised that this is a dumb question. The quick fix is here for anyone who needs it; I just realised that parent links cannot be changed. But I can define another frame and tf that with the correct orientation tf such that the detected object is rotated the right way.

Again, I do not know if this is the best way of doing things or it is just bad practice and makes everything more confusing. In any case, my problem is solved and I will close the issue.

matlabbe commented 1 year ago

Yeah, the objects are in the image frame. To rotate them, you can publish a static transform between a base frame and the camera frame, then set rviz global frame as the base frame.