Merge pull request #919 from stereolabs/improve_od

Fix Object Detection and add missing feature

CHANGELOG.rst

@@ -1,6 +1,14 @@
 CHANGELOG
 =========
 
+2023-09-15
+----------
+- Remove start_object_detection and stop_object_detection services
+- Add enable_object_detection service that takes a bool as parameter to enable/disable the OD module (same behavior as in ROS 2 Wrapper)
+- Add parameter 'object_detection/allow_reduced_precision_inference'
+- Add parameter 'object_detection/prediction_timeout'
+- The parameter 'object_detection/model' is no more an integer, but a string with the full name of the supported OD model
+
 2023-09-15
 ----------
 - Add pose and odometry status publishers

README.md

@@ -30,6 +30,7 @@ The zed_ros_wrapper is a catkin package. It depends on the following ROS package
 - sensor_msgs
 - stereo_msgs
 - std_msgs
+- std_srvs
 - message_filters
 - tf2_ros
 - nodelet
@@ -106,7 +107,7 @@ The SDK v3.0 introduces the Object Detection and Tracking module. **The Object D
 
 The Object Detection can be enabled *automatically* when the node start setting the parameter `object_detection/od_enabled` to `true` in the file `common.yaml`.
 
-The Object Detection can be enabled/disabled *manually* calling the services `start_object_detection` and `stop_object_detection`.
+The Object Detection can be enabled/disabled *manually* calling the service `enable_object_detection`.
 
 ### Body Tracking
 The Body Tracking module is not available for the ZED ROS Wrapper. Please consider migrating to the [ZED ROS2 Wrapper](https://github.com/stereolabs/zed-ros2-wrapper) if you need it.

zed_nodelets/CMakeLists.txt

@@ -48,6 +48,7 @@ find_package(catkin REQUIRED COMPONENTS
     sensor_msgs
     stereo_msgs
     std_msgs
+    std_srvs
     message_filters
     tf2_ros
     nodelet

zed_nodelets/src/zed_nodelet/include/zed_wrapper_nodelet.hpp

@@ -34,6 +34,7 @@
 #include <tf2_ros/transform_broadcaster.h>
 #include <tf2_ros/transform_listener.h>
 #include <visualization_msgs/Marker.h>
+#include <std_srvs/SetBool.h>
 
 #include <sl/Camera.hpp>
 
@@ -50,11 +51,9 @@
 #include <zed_interfaces/set_led_status.h>
 #include <zed_interfaces/set_pose.h>
 #include <zed_interfaces/start_3d_mapping.h>
-#include <zed_interfaces/start_object_detection.h>
 #include <zed_interfaces/start_remote_stream.h>
 #include <zed_interfaces/start_svo_recording.h>
 #include <zed_interfaces/stop_3d_mapping.h>
-#include <zed_interfaces/stop_object_detection.h>
 #include <zed_interfaces/stop_remote_stream.h>
 #include <zed_interfaces/stop_svo_recording.h>
 #include <zed_interfaces/toggle_led.h>
@@ -395,15 +394,9 @@ class ZEDWrapperNodelet : public nodelet::Nodelet
    */
   bool on_save_3d_map(zed_interfaces::save_3d_map::Request& req, zed_interfaces::save_3d_map::Response& res);
 
-  /*! \brief Service callback to start_object_detection service
+  /*! \brief Service callback to enable_object_detection service
    */
-  bool on_start_object_detection(zed_interfaces::start_object_detection::Request& req,
-                                 zed_interfaces::start_object_detection::Response& res);
-
-  /*! \brief Service callback to stop_object_detection service
-   */
-  bool on_stop_object_detection(zed_interfaces::stop_object_detection::Request& req,
-                                zed_interfaces::stop_object_detection::Response& res);
+  bool on_enable_object_detection(std_srvs::SetBool::Request& req, std_srvs::SetBool::Response& res);
 
   /*! \brief Service callback to save_area_memory service
    */
@@ -563,8 +556,7 @@ class ZEDWrapperNodelet : public nodelet::Nodelet
   ros::ServiceServer mSrvStartMapping;
   ros::ServiceServer mSrvStopMapping;
   ros::ServiceServer mSrvSave3dMap;
-  ros::ServiceServer mSrvStartObjDet;
-  ros::ServiceServer mSrvStopObjDet;
+  ros::ServiceServer mSrvEnableObjDet;
   ros::ServiceServer mSrvSaveAreaMemory;
   ros::ServiceServer mSrvSetRoi;
   ros::ServiceServer mSrvResetRoi;
@@ -807,19 +799,22 @@ class ZEDWrapperNodelet : public nodelet::Nodelet
   bool mObjDetEnabled = false;
   bool mObjDetRunning = false;
   bool mObjDetTracking = true;
+  bool mObjDetReducedPrecision = false;
   bool mObjDetBodyFitting = true;
   float mObjDetConfidence = 50.f;
   float mObjDetMaxRange = 10.f;
+  double mObjDetPredTimeout = 0.5;
   std::vector<sl::OBJECT_CLASS> mObjDetFilter;
   bool mObjDetPeopleEnable = true;
   bool mObjDetVehiclesEnable = true;
   bool mObjDetBagsEnable = true;
   bool mObjDetAnimalsEnable = true;
   bool mObjDetElectronicsEnable = true;
   bool mObjDetFruitsEnable = true;
-  bool mObjDetSportsEnable = true;
+  bool mObjDetSportEnable = true;
 
   sl::OBJECT_DETECTION_MODEL mObjDetModel = sl::OBJECT_DETECTION_MODEL::MULTI_CLASS_BOX_MEDIUM;
+  sl::OBJECT_FILTERING_MODE mObjFilterMode = sl::OBJECT_FILTERING_MODE::NMS3D;
 
   ros::Publisher mPubObjDet;
 };  // class ZEDROSWrapperNodelet