Merge pull request #80 from stereolabs/devel_v3.7

Devel v3.7

README.md

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

last_changes.md

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

zed_components/src/zed_camera/include/zed_camera_component.hpp

@@ -50,6 +50,7 @@
 #include <sensor_msgs/msg/imu.hpp>
 #include <sensor_msgs/msg/magnetic_field.hpp>
 #include <sensor_msgs/msg/fluid_pressure.hpp>
+
 #include <sensor_msgs/msg/temperature.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <nav_msgs/msg/path.hpp>
@@ -61,6 +62,7 @@
 
 #include <zed_interfaces/msg/objects_stamped.hpp>
 #include <zed_interfaces/msg/object.hpp>
+#include <zed_interfaces/msg/depth_info_stamped.hpp>
 #include <zed_interfaces/srv/set_pose.hpp>
 #include <zed_interfaces/srv/start_svo_rec.hpp>
 
@@ -88,6 +90,7 @@ typedef std::shared_ptr<rclcpp::Publisher<nav_msgs::msg::Odometry>> odomPub;
 typedef std::shared_ptr<rclcpp::Publisher<nav_msgs::msg::Path>> pathPub;
 
 typedef std::shared_ptr<rclcpp::Publisher<zed_interfaces::msg::ObjectsStamped>> objPub;
+typedef std::shared_ptr<rclcpp::Publisher<zed_interfaces::msg::DepthInfoStamped>> depthInfoPub;
 
 typedef std::unique_ptr<sensor_msgs::msg::Image> imageMsgPtr;
 typedef std::shared_ptr<sensor_msgs::msg::CameraInfo> camInfoMsgPtr;
@@ -105,6 +108,7 @@ typedef std::unique_ptr<nav_msgs::msg::Odometry> odomMsgPtr;
 typedef std::unique_ptr<nav_msgs::msg::Path> pathMsgPtr;
 
 typedef std::unique_ptr<zed_interfaces::msg::ObjectsStamped> objDetMsgPtr;
+typedef std::unique_ptr<zed_interfaces::msg::DepthInfoStamped> depthInfoMsgPtr;
 
 typedef rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr resetOdomSrvPtr;
 typedef rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr resetPosTrkSrvPtr;
@@ -320,9 +324,11 @@ class ZedCamera : public rclcpp::Node
     bool mObjDetAnimalsEnable = true;
     bool mObjDetElectronicsEnable = true;
     bool mObjDetFruitsEnable = true;
+    bool mObjDetSportEnable = true;
     bool mObjDetBodyFitting = false;
     sl::BODY_FORMAT mObjDetBodyFmt = sl::BODY_FORMAT::POSE_34;
     sl::DETECTION_MODEL mObjDetModel = sl::DETECTION_MODEL::HUMAN_BODY_FAST;
+    sl::OBJECT_FILTERING_MODE mObjFilterMode = sl::OBJECT_FILTERING_MODE::NMS3D;
     // QoS parameters
     // https://github.com/ros2/ros2/wiki/About-Quality-of-Service-Settings
     rclcpp::QoS mVideoQos;
@@ -355,6 +361,7 @@ class ZedCamera : public rclcpp::Node
     double mDepthPubRate = 15.0;
     double mPcPubRate = 15.0;
     double mFusedPcPubRate = 1.0;
+    bool mRemoveSatAreas = true;
     // <---- Dynamic params
 
     // ----> Frame IDs
@@ -474,6 +481,7 @@ class ZedCamera : public rclcpp::Node
     tempPub mPubTempR; //
     transfPub mPubCamImuTransf; //;
     objPub mPubObjDet;
+    depthInfoPub mPubDepthInfo;
     // <---- Publishers
 
     // ----> Threads and Timers

zed_wrapper/config/common.yaml

@@ -8,7 +8,7 @@
     ros__parameters:
         general:
             svo_file:                   ''
-            svo_loop:                   true                               # Enable loop mode when using an SVO as input source
+            svo_loop:                   false                               # Enable loop mode when using an SVO as input source
             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
             camera_timeout_sec:         5
             camera_max_reconnect:       5
@@ -17,13 +17,13 @@
             serial_number:              0
             resolution:                 2                                   # '0': HD2K, '1': HD1080, '2': HD720, '3': VGA
             sdk_verbose:                true
-            grab_frame_rate:            30                                  # ZED SDK internal grabbing rate
+            grab_frame_rate:            15                                  # ZED SDK internal grabbing rate
             pub_frame_rate:             15.0                                # [DYNAMIC] - frequency of publishing of visual images and depth images
             gpu_id:                     -1
 
         video:
             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]
-            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
+            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
             brightness:                 4                                   # [DYNAMIC]
             contrast:                   4                                   # [DYNAMIC]
             hue:                        0                                   # [DYNAMIC]
@@ -41,14 +41,15 @@
             qos_durability:             2                                   # '1': TRANSIENT_LOCAL - '2': VOLATILE
 
         depth:
-            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, ...)
+            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, ...)
             sensing_mode:               0                                   # '0': STANDARD, '1': FILL
             depth_stabilization:        true                                # Forces positional tracking to start if 'true'
             openni_depth_mode:          false                               # 'false': 32bit float [meters], 'true': 16bit unsigned int [millimeters]
-            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, ...)
+            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, ...)
             point_cloud_freq:           10.0                                # [DYNAMIC] - frequency of the pointcloud publishing (equal or less to `grab_frame_rate` value)
-            depth_confidence:           50                                  # [DYNAMIC]
+            depth_confidence:           30                                  # [DYNAMIC]
             depth_texture_conf:         100                                 # [DYNAMIC]
+            remove_saturated_areas:     true                                # [DYNAMIC]
             qos_history:                1                                   # '1': KEEP_LAST - '2': KEEP_ALL
             qos_depth:                  1                                   # Queue size if using KEEP_LAST
             qos_reliability:            1                                   # '1': RELIABLE - '2': BEST_EFFORT -

zed_wrapper/config/zed2.yaml

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

zed_wrapper/config/zed2i.yaml

@@ -28,15 +28,18 @@
         object_detection:
             od_enabled:                 false           # True to enable Object Detection [only ZED 2]
             confidence_threshold:       50.0            # [DYNAMIC] - Minimum value of the detection confidence of an object [0,100]
-            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 
-            mc_people:                  true            # [DYNAMIC] - Enable/disable the detection of persons for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
-            mc_vehicle:                 true            # [DYNAMIC] - Enable/disable the detection of vehicles for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
-            mc_bag:                     true            # [DYNAMIC] - Enable/disable the detection of bags for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
-            mc_animal:                  true            # [DYNAMIC] - Enable/disable the detection of animals for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
-            mc_electronics:             true            # [DYNAMIC] - Enable/disable the detection of electronic devices for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
-            mc_fruit_vegetable:         true            # [DYNAMIC] - Enable/disable the detection of fruits and vegetables for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
-            body_fitting:               false           # Enable/disable body fitting for 'HUMAN_BODY_FAST' and 'HUMAN_BODY_ACCURATE' models
+            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 
+            filtering_mode:             1               # '0': NONE - '1': NMS3D - '2': NMS3D_PER_CLASS
+            mc_people:                  true            # [DYNAMIC] - Enable/disable the detection of persons for 'MULTI_CLASS_X' models
+            mc_vehicle:                 true            # [DYNAMIC] - Enable/disable the detection of vehicles for 'MULTI_CLASS_X' models
+            mc_bag:                     true            # [DYNAMIC] - Enable/disable the detection of bags for 'MULTI_CLASS_X' models
+            mc_animal:                  true            # [DYNAMIC] - Enable/disable the detection of animals for 'MULTI_CLASS_X' models
+            mc_electronics:             true            # [DYNAMIC] - Enable/disable the detection of electronic devices for 'MULTI_CLASS_X' models
+            mc_fruit_vegetable:         true            # [DYNAMIC] - Enable/disable the detection of fruits and vegetables for 'MULTI_CLASS_X' models
+            mc_sport:                   true            # [DYNAMIC] - Enable/disable the detection of sport-related objects for 'MULTI_CLASS_X' models
+            body_fitting:               true           # Enable/disable body fitting for 'HUMAN_BODY_FAST' and 'HUMAN_BODY_ACCURATE' models
+            body_format:                1               # '0': POSE_18 - '1': POSE_34 [Only if `HUMAN_BODY_*` model is selected]
             qos_history:                1               # '1': KEEP_LAST - '2': KEEP_ALL
             qos_depth:                  1               # Queue size if using KEEP_LAST
-            qos_reliability:            1               # '1': RELIABLE - '2': BEST_EFFORT -
+            qos_reliability:            1               # '1': RELIABLE - '2': BEST_EFFORT
             qos_durability:             2               # '1': TRANSIENT_LOCAL - '2': VOLATILE

zed_wrapper/config/zedm.yaml

@@ -28,15 +28,18 @@
         object_detection:
             od_enabled:                 false           # True to enable Object Detection [only ZED 2]
             confidence_threshold:       50.0            # [DYNAMIC] - Minimum value of the detection confidence of an object [0,100]
-            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 
-            mc_people:                  true            # [DYNAMIC] - Enable/disable the detection of persons for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
-            mc_vehicle:                 true            # [DYNAMIC] - Enable/disable the detection of vehicles for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
-            mc_bag:                     true            # [DYNAMIC] - Enable/disable the detection of bags for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
-            mc_animal:                  true            # [DYNAMIC] - Enable/disable the detection of animals for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
-            mc_electronics:             true            # [DYNAMIC] - Enable/disable the detection of electronic devices for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
-            mc_fruit_vegetable:         true            # [DYNAMIC] - Enable/disable the detection of fruits and vegetables for 'MULTI_CLASS_BOX' and 'MULTI_CLASS_BOX_ACCURATE' models
-            body_fitting:               false           # Enable/disable body fitting for 'HUMAN_BODY_FAST' and 'HUMAN_BODY_ACCURATE' models
+            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 
+            filtering_mode:             1               # '0': NONE - '1': NMS3D - '2': NMS3D_PER_CLASS
+            mc_people:                  true            # [DYNAMIC] - Enable/disable the detection of persons for 'MULTI_CLASS_X' models
+            mc_vehicle:                 true            # [DYNAMIC] - Enable/disable the detection of vehicles for 'MULTI_CLASS_X' models
+            mc_bag:                     true            # [DYNAMIC] - Enable/disable the detection of bags for 'MULTI_CLASS_X' models
+            mc_animal:                  true            # [DYNAMIC] - Enable/disable the detection of animals for 'MULTI_CLASS_X' models
+            mc_electronics:             true            # [DYNAMIC] - Enable/disable the detection of electronic devices for 'MULTI_CLASS_X' models
+            mc_fruit_vegetable:         true            # [DYNAMIC] - Enable/disable the detection of fruits and vegetables for 'MULTI_CLASS_X' models
+            mc_sport:                   true            # [DYNAMIC] - Enable/disable the detection of sport-related objects for 'MULTI_CLASS_X' models
+            body_fitting:               true           # Enable/disable body fitting for 'HUMAN_BODY_FAST' and 'HUMAN_BODY_ACCURATE' models
+            body_format:                1               # '0': POSE_18 - '1': POSE_34 [Only if `HUMAN_BODY_*` model is selected]
             qos_history:                1               # '1': KEEP_LAST - '2': KEEP_ALL
             qos_depth:                  1               # Queue size if using KEEP_LAST
-            qos_reliability:            1               # '1': RELIABLE - '2': BEST_EFFORT -
+            qos_reliability:            1               # '1': RELIABLE - '2': BEST_EFFORT
             qos_durability:             2               # '1': TRANSIENT_LOCAL - '2': VOLATILE