fix markers arrows a little

Author: MoscowskyAnton

config/eod_example.rviz

@@ -3,9 +3,11 @@ Panels:
     Help Height: 87
     Name: Displays
     Property Tree Widget:
-      Expanded: ~
+      Expanded:
+        - /TF1/Status1
+        - /SimpleObjects1/Status1
       Splitter Ratio: 0.5
-    Tree Height: 665
+    Tree Height: 669
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -24,7 +26,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: ""
+    SyncSource: Detected Image
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -55,10 +57,30 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: true
-        cam_optical_link:
+        dai_rgb_optical_frame:
           Value: true
         map:
           Value: true
+        oak-d-base-frame:
+          Value: true
+        oak-d_frame:
+          Value: true
+        oak_imu_frame:
+          Value: true
+        oak_left_camera_frame:
+          Value: true
+        oak_left_camera_optical_frame:
+          Value: true
+        oak_model_origin:
+          Value: true
+        oak_rgb_camera_frame:
+          Value: true
+        oak_rgb_camera_optical_frame:
+          Value: true
+        oak_right_camera_frame:
+          Value: true
+        oak_right_camera_optical_frame:
+          Value: true
       Marker Alpha: 1
       Marker Scale: 1
       Name: TF
@@ -67,7 +89,23 @@ Visualization Manager:
       Show Names: true
       Tree:
         map:
-          {}
+          dai_rgb_optical_frame:
+            {}
+        oak-d-base-frame:
+          oak-d_frame:
+            oak_imu_frame:
+              {}
+            oak_left_camera_frame:
+              oak_left_camera_optical_frame:
+                {}
+            oak_model_origin:
+              {}
+            oak_rgb_camera_frame:
+              oak_rgb_camera_optical_frame:
+                {}
+            oak_right_camera_frame:
+              oak_right_camera_optical_frame:
+                {}
       Update Interval: 0
       Value: true
     - Alpha: 1
@@ -154,25 +192,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 5.1412224769592285
+      Distance: 3.9028306007385254
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 1.535446047782898
-        Y: -0.4598390758037567
-        Z: -0.15033507347106934
+        X: 1.0510656833648682
+        Y: -0.8599390387535095
+        Z: -0.3137734830379486
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.43979617953300476
+      Pitch: 0.4397958815097809
       Target Frame: <Fixed Frame>
-      Yaw: 2.5604374408721924
+      Yaw: 2.4104363918304443
     Saved: ~
 Window Geometry:
   Detected Image:
@@ -182,7 +220,7 @@ Window Geometry:
   Height: 1015
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000033dfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000440000033d000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000037e0000033dfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc000000440000033d000000ef0100001bfa000000000100000002fb0000001c0044006500740065006300740065006400200049006d0061006700650100000000ffffffff000000a201000003fb0000000a005600690065007700730100000670000001100000011001000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000001e8fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004efc0100000002fb0000000800540069006d0065010000000000000780000002ad01000003fb0000000800540069006d00650100000000000004500000000000000000000002960000033d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000341fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004200000341000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000037e00000341fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000004200000341000000ef0100001bfa000000000100000002fb0000001c0044006500740065006300740065006400200049006d0061006700650100000000ffffffff000000a201000003fb0000000a005600690065007700730100000670000001100000011001000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000001e8fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004efc0100000002fb0000000800540069006d0065010000000000000780000002ad01000003fb0000000800540069006d00650100000000000004500000000000000000000002960000034100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:

launch/extended_object_detection_oakd_example.launch

@@ -3,7 +3,7 @@
     <arg name="objectBasePath" default="$(find extended_object_detection)/config/object_base_example/ObjectBaseExample.xml"/>
 
     <include file="$(find depthai_examples)/launch/rgb_stereo_node.launch">                
-        <!--<arg name="depth_registration" value="true"/>-->
+        
     </include>
 
     <node name="extended_object_detection" pkg="extended_object_detection" type="extended_object_detection_node" output="screen"  >
@@ -12,15 +12,16 @@
 
         <param name="subscribe_depth" value="true"/>
         <param name="rate_limit_sec" value="0.1"/>
-        <param name="publish_output" value="true"/>
+        <param name="publish_image_output" value="true"/>
+        <param name="publish_markers" value="true"/>        
 
 
         <remap from="camera/image_raw" to="/rgb_stereo_publisher/color/image"/>
         <remap from="camera/info" to="/rgb_stereo_publisher/color/camera_info"/>
         <remap from="depth/image_raw" to="/rgb_stereo_publisher/stereo/depth"/>
         <remap from="depth/info" to="/rgb_stereo_publisher/stereo/camera_info"/>
 
-        <rosparam param="selected_on_start_simple_objects">[40]</rosparam>
+        <rosparam param="selected_on_start_simple_objects">[10]</rosparam>
         <rosparam param="selected_on_start_complex_objects">[-1]</rosparam>
 
     </node>
@@ -30,6 +31,6 @@
     args="-d $(find extended_object_detection)/config/eod_example.rviz --opengl 300" />
 
     <node pkg="tf" type="static_transform_publisher" name="static_cam_pub"
-        args="0 0 0 0 0 0 map camera_link 100"/>  
+        args="0 0 0 -1.57 0 -1.57 map dai_rgb_camera_optical_frame 100"/>  
 
 </launch>

src/extended_object_detection_node/eod_node.cpp

@@ -217,8 +217,8 @@ void EOD_ROS::detect(const eod::InfoImage& rgb, const eod::InfoImage& depth, std
 
     if(publish_markers){
         visualization_msgs::MarkerArray mrk_array_msg;    
-        for(auto& bo : simples_msg.objects){
-            int id_cnt = 0;        
+        int id_cnt = 0;        
+        for(auto& bo : simples_msg.objects){            
             mrk_array_msg.markers.push_back(base_object_to_marker_arrow(bo, rgb.K, header, cv::Scalar(0, 255, 0),id_cnt++));
         }
         simple_objects_markers_pub_.publish(mrk_array_msg);