2024年2月8日发(作者：)

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header:

seq: 175 stamp:

secs: 0 nsecs: 0 frame_id: ''markers:

-

header:

seq: 0 stamp:

secs: 1583043843 nsecs: 832021582 frame_id: "/usb_cam" id: 13 confidence: 0 pose:

header:

seq: 0 stamp:

secs: 0 nsecs: 0 frame_id: '' pose:

position:

x: -0.225492470716 y: -0.4 z: 2.33414874325 orientation:

x: 0.968313888783 y: 0.8 z: -0.3 w: 0.3 -

header:

seq: 0 stamp:

secs: 1583043843 nsecs: 832021582 frame_id: "/usb_cam" id: 16 confidence: 0 pose:

header:

seq: 0 stamp:

secs: 0 nsecs: 0 frame_id: '' pose:

position:

x: -0.326423448551 y: 0.7 z: 2.2873627328 orientation:

x: 0.96040035328 y: 0.19 z: 0.3 w: -0.4

rviz添加 Pointcloud2，选择话题 /camera/depth/color/points添加 OrkObject，选择话题 /recognized_object_array （若能够成功识别，则会发布此话题）查看 /recognized_object_array 话题的实时内容rostopic echo /recognized_object_array就会得到pose 那么经过tf变换就可以将可乐的位置提出来。

---header:

seq: 1809 stamp:

secs: 2491 nsecs: 330000000 frame_id: "camera_depth_optical_frame"objects:

-

header:

seq: 0 stamp:

secs: 2491 nsecs: 330000000 frame_id: "camera_depth_optical_frame" type:

key: "be4814630fa4e7a722eecd7f1c000ae3" db: "{"collection":"object_recognition","root":"localhost:5984","type" :"CouchDB"}" confidence: 93.6507949829 point_clouds: [] bounding_mesh:

triangles: [] vertices: [] bounding_contours: [] pose:

header:

seq: 0 stamp:

secs: 2491 nsecs: 330000000 frame_id: "camera_depth_optical_frame" pose:

pose:

position:

x: 0.18 y: 0. z: 1.55801010132 orientation:

x: 0.556165874004 y: -0.4 z: 0.429271042347 w: 0.586633265018 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]cooccurrence: []---