find_object_3d can not get the distance of target object.

[onlooker82]

Dear Matlabbe

I'm trying to use the find_object_3d to get the distance of target object.
The target object can be found, but the distance can't be measured.

Log always show the warning:

The rqt_image_view:

and

find object gui:

My PC OS is ubuntu 16.04 and ROS kinetic.
RGBD camera is realsense L515, particularly, this RGBD camera color width and height is 1280720 but depth width and height is 640480.
It seems that if the target object is not in the upper left corner of the image, will get the below error:

Could u help to see this problem?
Thanks very much.

[onlooker82]

Hi,

The find_object_3d.launch file I'm using:

[matlabbe]

The depth image is not registered to color image. With realsense cameras (not sure for L515), you should have a topic called aligned_depth_to_color, use that one for depth.

[onlooker82]

The depth image is not registered to color image. With realsense cameras (not sure for L515), you should have a topic called aligned_depth_to_color, use that one for depth.

Dear matlabbe
It works! thx very much!

And below is the correct source topic with L515: