Get functions such as "find_plane_at_hit" available outside of the "sl.Camera" object

[belliriccardo]

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, bug report, or anything other than a feature request directly related to this project.

Proposal

I am using the ZED 2i camera and the ROS wrapper node, and I found myself in need to use the "find_plane_at_hit" function, especially in conjunction with rviz feature "publish point", that publishes the 3D point coordinates to the topic "/clicked_point".

Now, I could use the points from the topic published in "/zed2i/zed_node/point_cloud/cloud_registered", but it would be done in python (in my case) and it would be much slower. Also, it's already implemented, and it would save a lot of time.

Fact is, it would be nice to have a way to access all the methods defined inside "sl.Camera" from outside, such as with services or with special topics. It would be tremendously helpful for productivity and/or visualization purposes (eg. within rviz itself).

Use-Case

No response

Anything else?

No response

[Myzhar]

Working on the new feature. Something is coming:

You can test it by checking out the add_plane_detection branch.
You must subscribe to the correct topic in Rviz (see the pictures) for the Marker plugin.

The next step is adding a custom message with all the info available in the sl::Plane data structure.

[belliriccardo]

You're the best! Thank you so much!