How can I get the xcenter, ycenter, z values..? about gb_visual_detection_3d

[fmrico]

Well, you can modify the code to adapt it to your needs.

Maybe you will better need something like https://github.com/gentlebots/gb_perception/blob/dadebe3d90719d6e01528ca68c44dfa80199b5c1/gb_perception_utils/src/gb_perception_utils/Perceptor3D.cpp#L77 but in Melodic.

Good luck!!!

[gusrbgks]

Hi.
I seem to have found a way to get the 3D coordinates of the Center Point of a 2D bbox.
This is the center_point in this code.
is this right?

[Darknet3D.cpp]

[fgonzalezr1998]

Hi @gusrbgks First part is correct. However, the last part is not. You can not get the index in the point cloud from the (x,y) coordinates (At least, in this way) because that x and y are not pixels but they are 3D coordinates (in meters) taking the 'camera_link' (or what you use) frame.

[gusrbgks]

Hi. @fgonzalezr1998

The coordinates detected in Yolo were converted to the robot's base coordinates and moved, but they did not move to the desired coordinates.

I suspect it's because I put the wrong 3d coordinates.

So how can I get the 3D coordinates I want?