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mgonzs13 / yolo_ros

Ultralytics YOLOv8, YOLOv9, YOLOv10, YOLOv11 for ROS 2
GNU General Public License v3.0
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how can i convert 3d coordinate to real word coordinate? #23

Closed cncowboy closed 10 months ago

cncowboy commented 10 months ago

thanks for this pretty project, i can get 3d coordinate with launch file:yolov8_3d.launch.py, if i want to get the real world coordinate, how can i do it?

mgonzs13 commented 10 months ago

The 3D positions are yet transformed to the target frame, by default to the base_link frame. Thus, you can change that target frame, for instance to the map or odom frame, resulting in 3D positions relative to the new frame. Is this what you are searching for?

cncowboy commented 10 months ago

got it, thanks!