Fix bug: euclidean_cluster not transforming convex hull object

Kosuke Murakamirequested to merge
kosuke_m/core_perception:fix/different_frame_euclidean_cluster into master

Bug fix

Fixed bug

Visualization package not displaying convex hull of the output of Euclidean cluster when output frame is different from the input.

How to reproduce the bug

  1. Download a sample data from here.
  2. Open the configuration of lidar_euclidean_cluster_detect by clicking app in runtime manager.
  3. Change input_points_node to /velodyne_front/velodyne_points Screenshot_from_2019-06-25_16-13-17
  4. Open a rviz
  5. Visualize MarkerArray by subscribing to /detection/lidar_detector/objects_markers
  6. Confirm that nothing is displayed. Screenshot_from_2019-06-25_16-11-46

Fix applied

Approach

Add transformation information for the convex hull at the output stage of Euclidean Cluster

How to check the applied fix

Repeat the same process in fix/different_frame_euclidean_cluster branch. You will see the result in rviz. Screenshot_from_2019-06-25_14-08-12

Edited by Abraham Cano

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