Visualization rviz2
Hello
I am using the Intel Realsense D435 camera and the depth_image_proc package to create me a sorted point cloud message. Now I want to display a box in rviz for all detected objects which matches the published PointCloud2 points in rviz.
I can display the boxes also so far in rviz. The problem is that when I move the camera in rviz the boxes move with it. (looks a bit weird) How can I set the boxes so that they get a fixed point in space? The points of the point cloud message have a fixed point when I move the camera. What do I have to do with my created boxes so that they behave like the points in the PointCloud message and are fixed in space.
I use:
visualization_msgs::msg::Marker bounding_box;
to display the boxes in rviz.
These are the settings I made for the markers. I have set the frameID to the same frame at which the PointCloud message can be displayed in rviz.
//steup frame
bounding_box.header.frame_id = "/camera_link";
bounding_box.ns = "line";
bounding_box.action = visualization_msgs::msg::Marker::ADD;
bounding_box.pose.orientation.w = 1.0;
bounding_box.id = 0;
//set Line Type
bounding_box.type = visualization_msgs::msg::Marker::LINE_LIST;
bounding_box.scale.x = 0.05;
//color
bounding_box.color.a = 1.0;
bounding_box.color.b = 1.0;
Thanks for the help