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luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.
MIT License
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Covariance of spatial detections #26

Open hwgat opened 3 years ago

hwgat commented 3 years ago

Hi there,

I am currently using multiple OAK-d cameras on a mobile robot for pedestrian detection. I have used the Spatial Tiny-yolo example as a template and then publish detections on a ros topic using rosbridge.

The tracking package I am using requires geometry_msgs/PoseWithCovariance messages as an input. Is there a way to calculate the covariance of an OAK-d spatial detection?

Cheers,

saching13 commented 3 years ago

I don't think we have it. Let me cross check it and get back to you.

jonathanleinola commented 2 years ago

I am also interested in this!

ninoweg commented 1 year ago

Has there been an update on this? I am using the internal Object Tracker and I would also be interested in obtaining the covariance of the Tracklets. Stating the documentation the tracker uses Kalman Filters, therefore this information should already be there

saching13 commented 1 year ago

Hello, This comes from an internal fw from Mx where it doesn't come with an option to enable the covariance of the tracklets.