Skip to content

Fix/zed2 objdet params #277

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 2 commits into from
Oct 23, 2025
Merged

Fix/zed2 objdet params #277

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
808d2a5
[clearpath_sensors] Updated Zed2 object detection mode type.
tonybaltovski Oct 23, 2025
e785721
[clearpath_sensors] Updated Zed2 object detection model name.
tonybaltovski Oct 23, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions clearpath_sensors/config/stereolabs_zed.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -124,7 +124,7 @@ stereolabs_zed:

object_detection:
od_enabled: false # True to enable Object Detection
model: 'MULTI_CLASS_BOX_FAST' # 'MULTI_CLASS_BOX_FAST', 'MULTI_CLASS_BOX_MEDIUM', 'MULTI_CLASS_BOX_ACCURATE', 'PERSON_HEAD_BOX_FAST', 'PERSON_HEAD_BOX_ACCURATE', 'CUSTOM_YOLOLIKE_BOX_OBJECTS'
detection_model: 'MULTI_CLASS_BOX_FAST' # 'MULTI_CLASS_BOX_FAST', 'MULTI_CLASS_BOX_MEDIUM', 'MULTI_CLASS_BOX_ACCURATE', 'PERSON_HEAD_BOX_FAST', 'PERSON_HEAD_BOX_ACCURATE', 'CUSTOM_YOLOLIKE_BOX_OBJECTS'
custom_onnx_file: '' # Only used if 'model' is 'CUSTOM_YOLOLIKE_BOX_OBJECTS'. Path to the YOLO-like ONNX file for custom object detection directly performed by the ZED SDK.
custom_onnx_input_size: 512 # Resolution used with the YOLO-like ONNX file. For example, 512 means a input tensor '1x3x512x512'
custom_label_yaml: '' # Only used if 'model' is 'CUSTOM_YOLOLIKE_BOX_OBJECTS'. Path to the COCO-like YAML file storing the custom class labels.
Expand All @@ -133,7 +133,7 @@ stereolabs_zed:
confidence_threshold: 75.0 # [DYNAMIC] - Minimum value of the detection confidence of an object [0,99]
prediction_timeout: 0.5 # During this time [sec], the object will have OK state even if it is not detected. Set this parameter to 0 to disable SDK predictions
enable_tracking: true # Defines if the object detection will track objects across images flow
filtering_mode: 1 # '0': NONE - '1': NMS3D - '2': NMS3D_PER_CLASS
filtering_mode: 'NMS3D' # Filtering mode that should be applied to raw detections: 'NONE', 'NMS3D', '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
Expand Down
Loading