I am currently using the ROS2 wrapper with a custom detector for object detection (for tracking pose of robots). I noticed that there is often a “flickering” phenomenon. Here is a video of the flickering, where the object jumps between locations, even when sitting still. I tested my detector that I trained using YOLO v11 model and it seems to be working well so I don’t think the detector is the problem. I did, however, notice that the ObjectsStamped message has two objects even when there is only one object in the scene:
header:
stamp:
sec: 1751656557
nanosec: 446281903
frame_id: zed_left_camera_frame
objects:
- label: jackal
label_id: 97
sublabel: '0'
confidence: 58.81842803955078
position:
- 3.7580249309539795
- -0.5921962857246399
- -0.36878183484077454
position_covariance:
- 0.0004960558726452291
- -7.787102367728949e-05
- -4.884915688307956e-05
- 2.4928054699557833e-05
- 7.668357284273952e-06
- 1.8098267901223153e-05
velocity:
- -7.6945390701293945
- 4.107448101043701
- 0.8168067336082458
tracking_available: true
tracking_state: 1
action_state: 1
bounding_box_2d:
corners:
- kp:
- 671
- 355
- kp:
- 756
- 355
- kp:
- 756
- 454
- kp:
- 671
- 454
bounding_box_3d:
corners:
- kp:
- 3.481393575668335
- -0.28705349564552307
- 0.014070898294448853
- kp:
- 4.0811052322387695
- -0.28705349564552307
- -0.04846164584159851
- kp:
- 4.080885887145996
- -0.8900126218795776
- -0.05056571960449219
- kp:
- 3.4811739921569824
- -0.8900126218795776
- 0.011966824531555176
- kp:
- 3.408859968185425
- -0.284599632024765
- -0.6815544366836548
- kp:
- 4.008571624755859
- -0.284599632024765
- -0.7440869808197021
- kp:
- 4.008352279663086
- -0.8875588178634644
- -0.7461910247802734
- kp:
- 3.4086406230926514
- -0.8875588178634644
- -0.6836584806442261
dimensions_3d:
- 0.6029629111289978
- 0.6994009613990784
- 0.6029630303382874
skeleton_available: false
- label: jackal
label_id: 96
sublabel: '0'
confidence: 69.107177734375
position:
- 6.663793087005615
- -1.2240804433822632
- -0.668341875076294
position_covariance:
- 0.004975060001015663
- -0.0009138746536336839
- -0.0004989710287190974
- 0.00020810244313906878
- 9.165657684206963e-05
- 9.212526492774487e-05
velocity:
- 51.88490676879883
- -10.522818565368652
- -5.447213172912598
tracking_available: true
tracking_state: 2
action_state: 1
bounding_box_2d:
corners:
- kp:
- 671
- 354
- kp:
- 756
- 354
- kp:
- 756
- 454
- kp:
- 671
- 454
bounding_box_3d:
corners:
- kp:
- 6.299466133117676
- -0.8111989498138428
- -0.1710924208164215
- kp:
- 7.122864723205566
- -0.8111989498138428
- -0.2569490373134613
- kp:
- 7.12256383895874
- -1.6390562057495117
- -0.25983792543411255
- kp:
- 6.29916524887085
- -1.6390562057495117
- -0.17398130893707275
- kp:
- 6.2056779861450195
- -0.8080260753631592
- -1.070559024810791
- kp:
- 7.02907657623291
- -0.8080260753631592
- -1.156415581703186
- kp:
- 7.028775215148926
- -1.6358833312988281
- -1.1593044996261597
- kp:
- 6.205376625061035
- -1.6358833312988281
- -1.073447823524475
dimensions_3d:
- 0.8278623819351196
- 0.9043486714363098
- 0.8278626799583435
skeleton_available: false
Could I get some help in figuring out why this is happening and how I could fix it? Thank you!