Getting error with zed camera and isaac.utils.DetectionUnprojection component integration.

Autonomous Machines Robotics - Isaac Isaac SDK
1 
{
        "source": "detection_decoder/isaac.ml.DetectionDecoder/detections",
        "target": "detection_unprojection/isaac.utils.DetectionUnprojection/detections"
},
{
        "source": "disparitytodepth/disparitytodepth/depth",
        "target": "detection_unprojection/isaac.utils.DetectionUnprojection/depth_image"
}

but getting error while 3d object pose identification

ERROR packages/utils/DetectionUnprojection.cpp@135: Failed to get robot_T_camera

2

Hi,
You’re probably missing to initialize the pose of the camera with regards to the robot.

You can define it in a robot config file, something like in /apps/kaya/robots/kaya_v1.config.json:

"2d_kaya.kaya_hardware.camera": {
    "realsense_pose": {
      "lhs_frame": "robot",
      "rhs_frame": "camera",
      "pose": [0.406, -0.579, 0.579, -0.406, 0, 0, 0.22]
    }
  }

Alternatively you can also use the component isaac::alice::PoseInitializer like in packages/superpixels/apps/image_superpixels.app.json:

"graph": {
    "nodes": [
      {
        "name": "camera",
        "components": [
          ...
          {
            "name": "left_rgb_pose",
            "type": "isaac::alice::PoseInitializer"
          },
          ...
        ]
       }
   }
         
...

"config": {
    "camera": {
      ...
      "left_rgb_pose": {
        "lhs_frame": "robot",
        "rhs_frame": "camera",
        "pose": [0.270598, -0.653281, 0.653281, -0.270598, 0.0, 0.0, 0.775]
      }
    }
3

Hello nitikesh.bhad

Please let us know if the issue is still lingering.