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Merge pull request #80 from stereolabs/devel_v3.7
Devel v3.7
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‎README.md

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@@ -48,7 +48,7 @@ $ sudo apt remove ros-foxy-image-transport-plugins ros-foxy-compressed-depth-ima
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### Prerequisites
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- [Ubuntu 20.04 (Focal Fossa)](https://releases.ubuntu.com/focal/)
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- [ZED SDK](https://www.stereolabs.com/developers/release/latest/) v3.6
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- [ZED SDK](https://www.stereolabs.com/developers/release/latest/) v3.7
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- [CUDA](https://developer.nvidia.com/cuda-downloads) dependency
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- ROS2 Foxy Fitxroy:
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- [Ubuntu 20.04](https://docs.ros.org/en/foxy/Installation/Linux-Install-Debians.html)

‎last_changes.md

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@@ -1,12 +1,13 @@
11
LATEST CHANGES
22
==============
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4-
2022-01-04
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v3.7.x
55
----------
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- Add support for sport-related OD objects
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- Add `remove_saturated_areas` dynamic parameter to disable depth filtering when luminance >=255
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- Add `sl::ObjectDetectionParameters::filtering_mode` parameter
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- Publish `depth_info` topic with current min/max depth information
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- Fix parameter override problem (Issue #71). Thx @kevinanschau
7-
8-
2021-12-16
9-
----------
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- Add default xacro path value in `zed_camera.launch.py`. Thx @sttobia
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- Fix `zed-ros2-interfaces` sub-module url, changing from `ssh` to `https`.
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‎zed-ros2-interfaces

‎zed_components/src/zed_camera/include/zed_camera_component.hpp

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@@ -50,6 +50,7 @@
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#include <sensor_msgs/msg/imu.hpp>
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#include <sensor_msgs/msg/magnetic_field.hpp>
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#include <sensor_msgs/msg/fluid_pressure.hpp>
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#include <sensor_msgs/msg/temperature.hpp>
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#include <nav_msgs/msg/odometry.hpp>
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#include <nav_msgs/msg/path.hpp>
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#include <zed_interfaces/msg/objects_stamped.hpp>
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#include <zed_interfaces/msg/object.hpp>
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#include <zed_interfaces/msg/depth_info_stamped.hpp>
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#include <zed_interfaces/srv/set_pose.hpp>
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#include <zed_interfaces/srv/start_svo_rec.hpp>
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@@ -88,6 +90,7 @@ typedef std::shared_ptr<rclcpp::Publisher<nav_msgs::msg::Odometry>> odomPub;
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typedef std::shared_ptr<rclcpp::Publisher<nav_msgs::msg::Path>> pathPub;
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typedef std::shared_ptr<rclcpp::Publisher<zed_interfaces::msg::ObjectsStamped>> objPub;
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typedef std::shared_ptr<rclcpp::Publisher<zed_interfaces::msg::DepthInfoStamped>> depthInfoPub;
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typedef std::unique_ptr<sensor_msgs::msg::Image> imageMsgPtr;
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typedef std::shared_ptr<sensor_msgs::msg::CameraInfo> camInfoMsgPtr;
@@ -105,6 +108,7 @@ typedef std::unique_ptr<nav_msgs::msg::Odometry> odomMsgPtr;
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typedef std::unique_ptr<nav_msgs::msg::Path> pathMsgPtr;
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typedef std::unique_ptr<zed_interfaces::msg::ObjectsStamped> objDetMsgPtr;
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typedef std::unique_ptr<zed_interfaces::msg::DepthInfoStamped> depthInfoMsgPtr;
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typedef rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr resetOdomSrvPtr;
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typedef rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr resetPosTrkSrvPtr;
@@ -320,9 +324,11 @@ class ZedCamera : public rclcpp::Node
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bool mObjDetAnimalsEnable = true;
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bool mObjDetElectronicsEnable = true;
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bool mObjDetFruitsEnable = true;
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bool mObjDetSportEnable = true;
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bool mObjDetBodyFitting = false;
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sl::BODY_FORMAT mObjDetBodyFmt = sl::BODY_FORMAT::POSE_34;
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sl::DETECTION_MODEL mObjDetModel = sl::DETECTION_MODEL::HUMAN_BODY_FAST;
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sl::OBJECT_FILTERING_MODE mObjFilterMode = sl::OBJECT_FILTERING_MODE::NMS3D;
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// QoS parameters
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// https://github.com/ros2/ros2/wiki/About-Quality-of-Service-Settings
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rclcpp::QoS mVideoQos;
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double mDepthPubRate = 15.0;
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double mPcPubRate = 15.0;
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double mFusedPcPubRate = 1.0;
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bool mRemoveSatAreas = true;
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// <---- Dynamic params
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// ----> Frame IDs
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tempPub mPubTempR; //
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transfPub mPubCamImuTransf; //;
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objPub mPubObjDet;
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depthInfoPub mPubDepthInfo;
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// <---- Publishers
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// ----> Threads and Timers

‎zed_components/src/zed_camera/src/zed_camera_component.cpp

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‎zed_wrapper/config/common.yaml

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@@ -8,7 +8,7 @@
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ros__parameters:
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general:
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svo_file: ''
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svo_loop: true # Enable loop mode when using an SVO as input source
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svo_loop: false # Enable loop mode when using an SVO as input source
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svo_realtime: false # if true SVO will be played trying to respect the original framerate eventually skipping frames, otherwise every frame will be processed respecting the `pub_frame_rate` setting
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camera_timeout_sec: 5
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camera_max_reconnect: 5
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serial_number: 0
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resolution: 2 # '0': HD2K, '1': HD1080, '2': HD720, '3': VGA
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sdk_verbose: true
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grab_frame_rate: 30 # ZED SDK internal grabbing rate
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grab_frame_rate: 15 # ZED SDK internal grabbing rate
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pub_frame_rate: 15.0 # [DYNAMIC] - frequency of publishing of visual images and depth images
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gpu_id: -1
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video:
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extrinsic_in_camera_frame: false # if `false` extrinsic parameter in `camera_info` will use ROS native frame (X FORWARD, Z UP) instead of the camera frame (Z FORWARD, Y DOWN) [`true` use old behavior as for version < v3.1]
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img_downsample_factor: 0.5 # Resample factor for image data matrices [0.01,1.0] The SDK works with native data sizes, but publishes rescaled matrices
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img_downsample_factor: 1.0 # Resample factor for image data matrices [0.01,1.0] The SDK works with native data sizes, but publishes rescaled matrices
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brightness: 4 # [DYNAMIC]
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contrast: 4 # [DYNAMIC]
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hue: 0 # [DYNAMIC]
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qos_durability: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE
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depth:
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quality: 1 # '0': NONE, '1': PERFORMANCE, '2': QUALITY, '3': ULTRA - Note: if '0' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
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quality: 4 # '0': NONE, '1': PERFORMANCE, '2': QUALITY, '3': ULTRA - '4': NEURAL - Note: if '0' all the modules that requires depth extraction are disabled by default (Pos. Tracking, Obj. Detection, Mapping, ...)
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sensing_mode: 0 # '0': STANDARD, '1': FILL
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depth_stabilization: true # Forces positional tracking to start if 'true'
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openni_depth_mode: false # 'false': 32bit float [meters], 'true': 16bit unsigned int [millimeters]
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depth_downsample_factor: 0.5 # Resample factor for depth data matrices [0.01,1.0] The SDK works with native data sizes, but publishes rescaled matrices (depth map, point cloud, ...)
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depth_downsample_factor: 1.0 # Resample factor for depth data matrices [0.01,1.0] The SDK works with native data sizes, but publishes rescaled matrices (depth map, point cloud, ...)
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point_cloud_freq: 10.0 # [DYNAMIC] - frequency of the pointcloud publishing (equal or less to `grab_frame_rate` value)
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depth_confidence: 50 # [DYNAMIC]
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depth_confidence: 30 # [DYNAMIC]
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depth_texture_conf: 100 # [DYNAMIC]
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remove_saturated_areas: true # [DYNAMIC]
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qos_history: 1 # '1': KEEP_LAST - '2': KEEP_ALL
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qos_depth: 1 # Queue size if using KEEP_LAST
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qos_reliability: 1 # '1': RELIABLE - '2': BEST_EFFORT -

‎zed_wrapper/config/zed2.yaml

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@@ -28,16 +28,18 @@
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object_detection:
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od_enabled: false # True to enable Object Detection [only ZED 2]
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confidence_threshold: 50.0 # [DYNAMIC] - Minimum value of the detection confidence of an object [0,100]
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model: 3 # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE - '4': MULTI_CLASS_BOX_MEDIUM - '5': HUMAN_BODY_MEDIUM - '6': PERSON_HEAD_BOX
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mc_people: true # [DYNAMIC] - Enable/disable the detection of persons for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
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mc_vehicle: true # [DYNAMIC] - Enable/disable the detection of vehicles for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
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mc_bag: true # [DYNAMIC] - Enable/disable the detection of bags for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
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mc_animal: true # [DYNAMIC] - Enable/disable the detection of animals for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
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mc_electronics: true # [DYNAMIC] - Enable/disable the detection of electronic devices for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
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mc_fruit_vegetable: true # [DYNAMIC] - Enable/disable the detection of fruits and vegetables for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
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body_fitting: false # Enable/disable body fitting for 'HUMAN_BODY_FAST' and 'HUMAN_BODY_ACCURATE' models
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model: 0 # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE - '4': MULTI_CLASS_BOX_MEDIUM - '5': HUMAN_BODY_MEDIUM - '6': PERSON_HEAD_BOX
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filtering_mode: 1 # '0': NONE - '1': NMS3D - '2': NMS3D_PER_CLASS
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mc_people: true # [DYNAMIC] - Enable/disable the detection of persons for 'MULTI_CLASS_X' models
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mc_vehicle: true # [DYNAMIC] - Enable/disable the detection of vehicles for 'MULTI_CLASS_X' models
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mc_bag: true # [DYNAMIC] - Enable/disable the detection of bags for 'MULTI_CLASS_X' models
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mc_animal: true # [DYNAMIC] - Enable/disable the detection of animals for 'MULTI_CLASS_X' models
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mc_electronics: true # [DYNAMIC] - Enable/disable the detection of electronic devices for 'MULTI_CLASS_X' models
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mc_fruit_vegetable: true # [DYNAMIC] - Enable/disable the detection of fruits and vegetables for 'MULTI_CLASS_X' models
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mc_sport: true # [DYNAMIC] - Enable/disable the detection of sport-related objects for 'MULTI_CLASS_X' models
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body_fitting: true # Enable/disable body fitting for 'HUMAN_BODY_FAST' and 'HUMAN_BODY_ACCURATE' models
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body_format: 1 # '0': POSE_18 - '1': POSE_34 [Only if `HUMAN_BODY_*` model is selected]
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qos_history: 1 # '1': KEEP_LAST - '2': KEEP_ALL
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qos_depth: 1 # Queue size if using KEEP_LAST
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qos_reliability: 1 # '1': RELIABLE - '2': BEST_EFFORT -
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qos_durability: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE
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qos_reliability: 1 # '1': RELIABLE - '2': BEST_EFFORT
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qos_durability: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE

‎zed_wrapper/config/zed2i.yaml

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object_detection:
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od_enabled: false # True to enable Object Detection [only ZED 2]
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confidence_threshold: 50.0 # [DYNAMIC] - Minimum value of the detection confidence of an object [0,100]
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model: 2 # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE - '4': MULTI_CLASS_BOX_MEDIUM - '5': HUMAN_BODY_MEDIUM - '6': PERSON_HEAD_BOX
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mc_people: true # [DYNAMIC] - Enable/disable the detection of persons for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
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mc_vehicle: true # [DYNAMIC] - Enable/disable the detection of vehicles for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
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mc_bag: true # [DYNAMIC] - Enable/disable the detection of bags for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
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mc_animal: true # [DYNAMIC] - Enable/disable the detection of animals for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
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mc_electronics: true # [DYNAMIC] - Enable/disable the detection of electronic devices for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
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mc_fruit_vegetable: true # [DYNAMIC] - Enable/disable the detection of fruits and vegetables for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
38-
body_fitting: false # Enable/disable body fitting for 'HUMAN_BODY_FAST' and 'HUMAN_BODY_ACCURATE' models
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model: 0 # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE - '4': MULTI_CLASS_BOX_MEDIUM - '5': HUMAN_BODY_MEDIUM - '6': PERSON_HEAD_BOX
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filtering_mode: 1 # '0': NONE - '1': NMS3D - '2': NMS3D_PER_CLASS
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mc_people: true # [DYNAMIC] - Enable/disable the detection of persons for 'MULTI_CLASS_X' models
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mc_vehicle: true # [DYNAMIC] - Enable/disable the detection of vehicles for 'MULTI_CLASS_X' models
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mc_bag: true # [DYNAMIC] - Enable/disable the detection of bags for 'MULTI_CLASS_X' models
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mc_animal: true # [DYNAMIC] - Enable/disable the detection of animals for 'MULTI_CLASS_X' models
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mc_electronics: true # [DYNAMIC] - Enable/disable the detection of electronic devices for 'MULTI_CLASS_X' models
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mc_fruit_vegetable: true # [DYNAMIC] - Enable/disable the detection of fruits and vegetables for 'MULTI_CLASS_X' models
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mc_sport: true # [DYNAMIC] - Enable/disable the detection of sport-related objects for 'MULTI_CLASS_X' models
40+
body_fitting: true # Enable/disable body fitting for 'HUMAN_BODY_FAST' and 'HUMAN_BODY_ACCURATE' models
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body_format: 1 # '0': POSE_18 - '1': POSE_34 [Only if `HUMAN_BODY_*` model is selected]
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qos_history: 1 # '1': KEEP_LAST - '2': KEEP_ALL
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qos_depth: 1 # Queue size if using KEEP_LAST
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qos_reliability: 1 # '1': RELIABLE - '2': BEST_EFFORT -
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qos_reliability: 1 # '1': RELIABLE - '2': BEST_EFFORT
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qos_durability: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE

‎zed_wrapper/config/zedm.yaml

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object_detection:
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od_enabled: false # True to enable Object Detection [only ZED 2]
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confidence_threshold: 50.0 # [DYNAMIC] - Minimum value of the detection confidence of an object [0,100]
31-
model: 6 # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE - '4': MULTI_CLASS_BOX_MEDIUM - '5': HUMAN_BODY_MEDIUM - '6': PERSON_HEAD_BOX
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mc_people: true # [DYNAMIC] - Enable/disable the detection of persons for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
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mc_vehicle: true # [DYNAMIC] - Enable/disable the detection of vehicles for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
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mc_bag: true # [DYNAMIC] - Enable/disable the detection of bags for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
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mc_animal: true # [DYNAMIC] - Enable/disable the detection of animals for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
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mc_electronics: true # [DYNAMIC] - Enable/disable the detection of electronic devices for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
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mc_fruit_vegetable: true # [DYNAMIC] - Enable/disable the detection of fruits and vegetables for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
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body_fitting: false # Enable/disable body fitting for 'HUMAN_BODY_FAST' and 'HUMAN_BODY_ACCURATE' models
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model: 0 # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE - '4': MULTI_CLASS_BOX_MEDIUM - '5': HUMAN_BODY_MEDIUM - '6': PERSON_HEAD_BOX
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filtering_mode: 1 # '0': NONE - '1': NMS3D - '2': NMS3D_PER_CLASS
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mc_people: true # [DYNAMIC] - Enable/disable the detection of persons for 'MULTI_CLASS_X' models
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mc_vehicle: true # [DYNAMIC] - Enable/disable the detection of vehicles for 'MULTI_CLASS_X' models
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mc_bag: true # [DYNAMIC] - Enable/disable the detection of bags for 'MULTI_CLASS_X' models
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mc_animal: true # [DYNAMIC] - Enable/disable the detection of animals for 'MULTI_CLASS_X' models
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mc_electronics: true # [DYNAMIC] - Enable/disable the detection of electronic devices for 'MULTI_CLASS_X' models
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mc_fruit_vegetable: true # [DYNAMIC] - Enable/disable the detection of fruits and vegetables for 'MULTI_CLASS_X' models
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mc_sport: true # [DYNAMIC] - Enable/disable the detection of sport-related objects for 'MULTI_CLASS_X' models
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body_fitting: true # Enable/disable body fitting for 'HUMAN_BODY_FAST' and 'HUMAN_BODY_ACCURATE' models
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body_format: 1 # '0': POSE_18 - '1': POSE_34 [Only if `HUMAN_BODY_*` model is selected]
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qos_history: 1 # '1': KEEP_LAST - '2': KEEP_ALL
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qos_depth: 1 # Queue size if using KEEP_LAST
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qos_reliability: 1 # '1': RELIABLE - '2': BEST_EFFORT -
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qos_reliability: 1 # '1': RELIABLE - '2': BEST_EFFORT
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qos_durability: 2 # '1': TRANSIENT_LOCAL - '2': VOLATILE

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