ROS2 Camera Helper: Incorrect shape and positions in 3D bounding boxes[Isaac Sim 2023.1.1]

Omniverse Isaac Sim
1

Hello,

We’re trying to obtain 3D bounding boxes in ROS2. While everything appears correct from the viewport perspective, upon utilizing the ROS2 camera helper, the positions are aligned with the world frame and shape is inaccurate.

From Viewport:

image
image798×496 82.4 KB

From Rviz:

image
image1850×1055 118 KB

bbox ROS2 message:

header:
stamp:
sec: 0
nanosec: 83333337
frame_id: camera_tof_nfov
detections:

  • header:
    stamp:
    sec: 0
    nanosec: 0
    frame_id: ‘’
    results:
    • hypothesis:
      class_id: ‘0’
      score: 1.0
      pose:
      pose:
      position:
      x: 0.0
      y: 0.0
      z: 0.0
      orientation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
      covariance:
      • 0.0
        …
        bbox:
        center:
        position:
        x: 8.0
        y: 8.817369234748185e-08
        z: -9.685754776000977e-07
        orientation:
        x: 8.876164951324077e-07
        y: 2.66227889164568e-07
        z: 1.4337469826566205e-07
        w: 0.9999999999995604
        size:
        x: 1.1871184595158764
        y: 1.187118459517564
        z: 1.1871184595177127
        id: ‘’
  • header:
    stamp:
    sec: 0
    nanosec: 0
    frame_id: ‘’
    results:
    • hypothesis:
      class_id: ‘1’
      score: 1.0
      pose:
      pose:
      position:
      x: 0.0
      y: 0.0
      z: 0.0
      orientation:
      x: 0.0
      y: 0.0
      z: 0.0
      w: 1.0
      covariance:
      • 0.0
        …
        bbox:
        center:
        position:
        x: 8.0
        y: 3.0
        z: 0.0
        orientation:
        x: 4.440892098402098e-06
        y: 4.440892098402098e-06
        z: 0.9999999999778133
        w: 2.220446049309721e-06
        size:
        x: -267315.3285292032
        y: -267315.3285292032
        z: -267315.3285292032
3

Hi there,

can you provide the steps to reproduce the issue and the expected values?

Best,
Andrei