find_object_3d MultiDetection

[taletovic]

Hello @matlabbe,
first thank for your work, much appreciated.

I've followed your MultiDetection tutorial. And it works with find_object_2d.

If I use the same objects in find_objects_3d I see that they are being detected using rosrun find_object_2d print_objects_detected but the TF information is only published for one object (first detected). Is there any possibility to get TFs for all objects detected?

Thanks in advance.

[matlabbe]

Looking at the code:

find-object/src/ros/FindObjectROS.cpp

Line 118 in 856d7f0

transform.child_frame_id_ = QString("%1_%2%3").arg(objFramePrefix_.c_str()).arg(id).arg(multiSuffix).toStdString();

It seems that if the same object is observed twice, there will be 2 TFs. The multisuffix should be set to a letter. However, there is no guarantee that object 1 an 1_b will be also the same objects (or same order) than 1 and 1_b in the next image.