2D image detections send from SVL don't overlap with the published image
Description
As pointed out in this discussion !1180 (comment 674574601) there is a mismatch between the detections published as 2D ground truth and where the objects are in an image. This issue aims to contain the investigations about why this happens.
How to Reproduce
- Run the simulator with sensor json file that includes ground truth detections
- Install and run
lgsvl_bridge
ros2 run ground_truth_detections ground_truth_detections_node_exe
ros2 run ground_truth_visualizer ground_truth_visualizer_node_exe
- Open rviz2, set fixed frame to "camera" and add "Image" plugin and subscribe to "/raw_image" you should see an image similar to this one Screenshot_from_2021-09-09_16-46-00
There will be a mismatch between where the detections are and there the objects are in an image.
Expected behavior
The image detection boxes should overlap exactly with the objects shown in an image published from the SVL.