stereolabs / zed-ros-wrapper

ROS wrapper for the ZED SDK
https://www.stereolabs.com/docs/ros/
MIT License
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Get functions such as "find_plane_at_hit" available outside of the "sl.Camera" object #825

Open belliriccardo opened 2 years ago

belliriccardo commented 2 years ago

Preliminary Checks

Proposal

I am using the ZED 2i camera and the ROS wrapper node, and I found myself in need to use the "find_plane_at_hit" function, especially in conjunction with rviz feature "publish point", that publishes the 3D point coordinates to the topic "/clicked_point".

Now, I could use the points from the topic published in "/zed2i/zed_node/point_cloud/cloud_registered", but it would be done in python (in my case) and it would be much slower. Also, it's already implemented, and it would save a lot of time.

Fact is, it would be nice to have a way to access all the methods defined inside "sl.Camera" from outside, such as with services or with special topics. It would be tremendously helpful for productivity and/or visualization purposes (eg. within rviz itself).

Use-Case

No response

Anything else?

No response

Myzhar commented 2 years ago

Working on the new feature. Something is coming:

Screenshot from 2022-03-31 18-07-25 Screenshot from 2022-03-31 18-07-15 Screenshot from 2022-03-31 18-07-06

You can test it by checking out the add_plane_detection branch. You must subscribe to the correct topic in Rviz (see the pictures) for the Marker plugin.

Screenshot from 2022-03-31 20-10-09

The next step is adding a custom message with all the info available in the sl::Plane data structure.

belliriccardo commented 2 years ago

You're the best! Thank you so much!