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stereolabs / zed-ros2-interfaces

ROS2 interfaces for the ZED ROS2 Wrapper
Apache License 2.0
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Skeleton joint transforms #2

Open haavarpb opened 2 years ago

haavarpb commented 2 years ago

Hi, I am currently playing around with a ZED2 camera in ROS2, and I am trying to build a transform tree for detected humanoid skeletons. The ROS2 interfaces provide me with a keypoint for each joint in Skeleton3D.msg. As my math is sketchy, I was thinking maybe you could help as I know that after playing around with the python sdk, the rotations of each joint is given there.

My question is then:

  1. Could you provide the algorithm for obtaining the frames of each joint (the root PELVIS joint is especially difficult) or
  2. Could you include this data in future ros2 interfaces

Thanks

Myzhar commented 2 years ago

The ROS2 message is not yet updated to the latest information available with the ZED SDK: https://www.stereolabs.com/docs/api/classsl_1_1ObjectData.html#abbcf08d0ee3800edda16f668dd9c4696

It will be updated soon.