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luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.
MIT License
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[BUG] ROS message Detection3DArray has incomplete bbox data #258

Closed RemiFabre closed 1 year ago

RemiFabre commented 1 year ago

Describe the bug While doing spatial Yolo, I noticed the y size of the bbox is not updated in the ROS message: bbox: center: position: x: 136.5 y: 222.5 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0 size: x: 243.0 y: 0.0 z: 0.0

Minimal Reproducible Example Start a spatial yolo and: ros2 topic echo /oak/nn/detections

Fix It seems to be a simple typo, I fixed it with the following changes.

In the file depthai_bridge/src/SpatialDetectionConverter.cpp, in the function toRosMsg, add: opDetectionMsg.detections[i].bbox.size_y = ySize;

in the function toRosVisionMsg, add: opDetectionMsg.detections[i].bbox.size.y = ySize;

Serafadam commented 1 year ago

Hi, thanks, this will be added as part of https://github.com/luxonis/depthai-ros/pull/247

Serafadam commented 1 year ago

Added in https://github.com/luxonis/depthai-ros/pull/247