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lidar_euclidean_cluster_detect frame is wrong

asked 2020-10-14 11:22:01 -0500

Mackou gravatar image

updated 2020-10-15 17:17:55 -0500

Hello everyone. I am using the lidar_euclidean_cluster_detect and I have noticed that the frame is wrong in the /detection/objects topic.

In the header I have what I put as output_frame as I expected but the position values are not TFed ! It's still in the same frame as the input (lidar).

Example here : https://imgur.com/a/DxeKvPG The points are still in Lidar frame and not map frame, even if the header says so ! It really looks like a bug.

I just realized that the convex_hull is also wrong in the topic cloud_clusters.

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@Mackou please feel free to open an issue in the repo and I'd encourage you to have a go at opening a PR to fix the problem

sgermanserrano gravatar image sgermanserrano  ( 2020-10-15 03:57:49 -0500 )edit

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answered 2020-10-21 08:45:55 -0500

Mackou gravatar image
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Hi Mackou, The main autoware development is happening on github https://github.com/Autoware-AI/core_p.... Would love to have your PR there. Today is the PR cut off date for 1.15 release if you submit your PR today, we can release this fix for 1.15.

liyou zhou gravatar image liyou zhou  ( 2020-10-23 10:41:57 -0500 )edit
Mackou gravatar image Mackou  ( 2020-10-23 11:08:17 -0500 )edit

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Asked: 2020-10-14 11:22:01 -0500

Seen: 32 times

Last updated: Oct 21