Hi,
I’m following the instructions on this website to run the Docker image with perceptor.launch.py:
When I do this with the people reconstruction configuration, Rviz displays people voxels.
The next step is to detect a pallet and a box, which are indicated by the green and blue rectangles, respectively, on the official website.
However, real-world objects visible in my camera view are not being detected. How can I get the bounding boxes to appear in Rviz? Is there any additional configuration I need to perform after I launch nova_developer_kit_bringup with perceptor.launch.py?
Thanks in advance!
Hi @david.wang.engineer
Do you have a picture of the environment to understand better why your environment is not detecting the pallet?
If your pictures are confidential, you can contact us directly through our sales or support team.
Best,
Raffaello
Hi @Raffaello
Thank you for your response.
The main objective of this discussion is to identify the ROS2 topic that can visualize the bounding box. Since the official website indicates that pallet detection is supported, we would like to test this detection functionality using our three Hawk cameras in the real world.
Below are the nvblox-related topics we observed when launching perceptor.launch.py in the docker image:
/nvblox_node/back_projected_depth/front_stereo_camera_left_optical
/nvblox_node/back_projected_depth/left_stereo_camera_left_optical
/nvblox_node/back_projected_depth/right_stereo_camera_left_optical
/nvblox_node/color_layer
/nvblox_node/color_layer_marker
/nvblox_node/combined_esdf_pointcloud
/nvblox_node/combined_map_slice
/nvblox_node/combined_occupancy_grid
/nvblox_node/dynamic_depth_frame_overlay
/nvblox_node/dynamic_esdf_pointcloud
/nvblox_node/dynamic_map_slice
/nvblox_node/dynamic_occupancy_grid
/nvblox_node/dynamic_occupancy_layer
/nvblox_node/dynamic_occupancy_layer_marker
/nvblox_node/dynamic_points
/nvblox_node/esdf_slice_bounds
/nvblox_node/freespace_layer
/nvblox_node/freespace_layer_marker
/nvblox_node/groundplane_estimator_estimated_plane
/nvblox_node/groundplane_estimator_ground_pointcloud
/nvblox_node/mesh
/nvblox_node/pessimistic_static_esdf_pointcloud
/nvblox_node/pessimistic_static_map_slice
/nvblox_node/shapes_to_clear
/nvblox_node/static_esdf_pointcloud
/nvblox_node/static_map_slice
/nvblox_node/static_occupancy_grid
/nvblox_node/tsdf_layer
/nvblox_node/tsdf_layer_marker
/nvblox_node/workspace_bounds
Could you please clarify which of these topics is responsible for visualizing the bounding box? Additionally, is there any other program we need to run in the docker to enable this functionality?
I appreciate your time and assistance. Also, could you share the contact details for your sales or support team?
Best regards,
David
