Devel v3.4 (#675)

* Add support for new DEPTH16_MM depth mode
* Update latest_changes.md
* Remove debug settings
* Fix issue #660
* Update latest_changes.md
* New OD service and topics
* New OD parameters handling
* Delete c_cpp_properties.json
* Delete settings.json
* Delete c_cpp_properties.json
* Delete settings.json
* Add `.vscode` to gitignore
* New OD Start service options
* Init OD parameters
* New OD module working
* CLang formatting
* Add OD detection max_range
* Minor fixes
* Fix OD tracking behavior
* default OD params

.gitignore

@@ -37,3 +37,6 @@ Makefile*
 # QtCtreator CMake
 CMakeLists.txt.user*
 
+#VSCode
+*vscode*
+

latest_changes.md

@@ -1,6 +1,11 @@
 LATEST CHANGES
 ==============
 
+v3.4
+---------
+- Add support for new DEPTH16_MM data type for depth (OPENNI MODE)
+- Fix issue #660: detected objects topic not published if depth computation not active
+
 RGB/Depth sync fix #629 (2020-11-02)
 -------------------------------
 - Fixed sync issue between RGB and Depth data (Thx @dennisVi)

zed_interfaces/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.7)
+cmake_minimum_required(VERSION 3.5)
 
 project(zed_interfaces)
 
@@ -16,8 +16,16 @@ find_package(catkin REQUIRED COMPONENTS
 add_message_files( 
     DIRECTORY msg 
     FILES
-    ObjectStamped.msg
-    Objects.msg
+    BoundingBox2Df.msg
+    BoundingBox2Di.msg
+    BoundingBox3D.msg
+    Keypoint2Df.msg
+    Keypoint2Di.msg
+    Keypoint3D.msg
+    Object.msg
+    ObjectsStamped.msg
+    Skeleton2D.msg
+    Skeleton3D.msg
     RGBDSensors.msg
   )
 

zed_interfaces/msg/BoundingBox2Df.msg

@@ -0,0 +1,6 @@
+#      0 ------- 1
+#      |         |
+#      |         |
+#      |         |
+#      3 ------- 2
+zed_interfaces/Keypoint2Df[4] corners

zed_interfaces/msg/BoundingBox2Di.msg

@@ -0,0 +1,6 @@
+#      0 ------- 1
+#      |         |
+#      |         |
+#      |         |
+#      3 ------- 2
+zed_interfaces/Keypoint2Di[4] corners

zed_interfaces/msg/BoundingBox3D.msg

@@ -0,0 +1,8 @@
+#      1 ------- 2
+#     /.        /|
+#    0 ------- 3 |
+#    | .       | |
+#    | 5.......| 6
+#    |.        |/
+#    4 ------- 7
+zed_interfaces/Keypoint3D[8] corners

zed_interfaces/msg/Keypoint2Df.msg

@@ -0,0 +1 @@
+float32[2] kp

zed_interfaces/msg/Keypoint2Di.msg

@@ -0,0 +1 @@
+uint32[2] kp

zed_interfaces/msg/Keypoint3D.msg

@@ -0,0 +1 @@
+float32[3] kp

zed_interfaces/msg/Object.msg

@@ -0,0 +1,61 @@
+# Object label
+string label
+
+# Object label ID
+int16 label_id
+
+# Object sub
+string sublabel
+
+# Object confidence level (1-99)
+float32 confidence
+
+# Object centroid position
+float32[3] position
+
+# Position covariance
+float32[6] position_covariance
+
+# Object velocity
+float32[3] velocity
+
+# Tracking available
+bool tracking_available
+
+# Tracking state
+# 0 -> OFF (object not valid)
+# 1 -> OK
+# 2 -> SEARCHING (occlusion occurred, trajectory is estimated)
+int8 tracking_state
+
+# Action state
+# 0 -> IDLE
+# 2 -> MOVING
+int8 action_state
+
+# 2D Bounding box projected to Camera image
+zed_interfaces/BoundingBox2Di bounding_box_2d
+
+# 3D Bounding box in world frame
+zed_interfaces/BoundingBox3D bounding_box_3d
+
+# 3D dimensions (width, height, lenght)
+float32[3] dimensions_3d
+
+# Is skeleton available?
+bool skeleton_available
+
+# 2D Bounding box projected to Camera image of the person head
+zed_interfaces/BoundingBox2Df head_bounding_box_2d
+
+# 3D Bounding box in world frame of the person head
+zed_interfaces/BoundingBox3D head_bounding_box_3d
+
+# 3D position of the centroid of the person head
+float32[3] head_position
+
+# 2D Person skeleton projected to Camera image
+zed_interfaces/Skeleton2D skeleton_2d
+
+# 3D Person skeleton in world frame
+zed_interfaces/Skeleton3D skeleton_3d

zed_interfaces/msg/ObjectsStamped.msg

@@ -0,0 +1,5 @@
+# Standard Header
+std_msgs/Header header
+
+# Array of `object_stamped` topics
+zed_interfaces/Object[] objects

zed_interfaces/msg/Skeleton2D.msg

@@ -0,0 +1,21 @@
+# Skeleton joints indices
+#        16-14   15-17
+#             \ /
+#              0
+#              |
+#       2------1------5
+#       |    |   |    |
+#	    |    |   |    |
+#       3    |   |    6
+#       |    |   |    |
+#       |    |   |    |
+#       4    8   11   7
+#            |   |
+#            |   |
+#            |   |
+#            9   12
+#            |   |
+#            |   |
+#            |   |
+#           10   13
+zed_interfaces/Keypoint2Df[18] keypoints

zed_interfaces/msg/Skeleton3D.msg

@@ -0,0 +1,21 @@
+# Skeleton joints indices
+#        16-14   15-17
+#             \ /
+#              0
+#              |
+#       2------1------5
+#       |    |   |    |
+#	    |    |   |    |
+#       3    |   |    6
+#       |    |   |    |
+#       |    |   |    |
+#       4    8   11   7
+#            |   |
+#            |   |
+#            |   |
+#            9   12
+#            |   |
+#            |   |
+#            |   |
+#           10   13
+zed_interfaces/Keypoint3D[18] keypoints

zed_interfaces/srv/start_object_detection.srv

@@ -1,18 +1,38 @@
 # Starts object detection, if not automatically enabled with the parameter `object_detection/od_enabled`
 
+# OD Model
+# '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE - '2': HUMAN_BODY_FAST - '3': HUMAN_BODY_ACCURATE
+int8 model
+
 # Minimum Confidence level
 float32 confidence
 
+# MAx detection range
+float32 max_range
+
 # Object tracking
 bool tracking
 
-# Detect people
-bool people
+# Body Fitting
+bool sk_body_fitting
+
+# Detect people (valid for Multi-class model)
+bool mc_people
 
 # Detect vehicles
-bool vehicles
+bool mc_vehicles
+
+# Detect bags
+bool mc_bag
+
+# Detect animals
+bool mc_animal
 
+# Detect electronic devices
+bool mc_electronics
 
+# Detect fruits and vegetables
+bool mc_fruit_vegetable
 
 ---
 bool done

zed_nodelets/CMakeLists.txt

@@ -1,10 +1,7 @@
-cmake_minimum_required(VERSION 2.8.7)
+cmake_minimum_required(VERSION 3.5)
 
 project(zed_nodelets)
 
-#Fix for QtCretor
-#list(APPEND CMAKE_PREFIX_PATH "/opt/ros/$ENV{ROS_DISTRO}/")
-
 # if CMAKE_BUILD_TYPE is not specified, take 'Release' as default
 IF(NOT CMAKE_BUILD_TYPE)
     SET(CMAKE_BUILD_TYPE Release)
@@ -73,7 +70,7 @@ catkin_package(
     dynamic_reconfigure
     tf2_ros
     tf2_geometry_msgs
-    message_runtime
+    message_runtime    
     zed_interfaces
 )
 
@@ -91,14 +88,14 @@ set(RGBD_SENS_DEMUX_SRC ${CMAKE_CURRENT_SOURCE_DIR}/src/rgbd_sensors_demux_nodel
 # INCLUDES
 
 # Specify locations of header files.
-include_directories(
-        ${catkin_INCLUDE_DIRS}
-        ${CUDA_INCLUDE_DIRS}
-        ${ZED_INCLUDE_DIRS}
-        ${CMAKE_CURRENT_SOURCE_DIR}/src/tools/include
-        ${CMAKE_CURRENT_SOURCE_DIR}/src/zed_nodelet/include
-        ${CMAKE_CURRENT_SOURCE_DIR}/src/rgbd_sensors_sync_nodelet/include
-        ${CMAKE_CURRENT_SOURCE_DIR}/src/rgbd_sensors_demux_nodelet/include
+set(INCLUDE_DIRS
+    ${catkin_INCLUDE_DIRS}
+    ${CUDA_INCLUDE_DIRS}
+    ${ZED_INCLUDE_DIRS}
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/tools/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/zed_nodelet/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/rgbd_sensors_sync_nodelet/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/rgbd_sensors_demux_nodelet/include
 )
 
 link_directories(${ZED_LIBRARY_DIR})
@@ -122,6 +119,7 @@ add_library(ZEDNodelets
     ${RGBD_SENS_SYNC_SRC}
     ${RGBD_SENS_DEMUX_SRC}
 )
+target_include_directories(ZEDNodelets PRIVATE ${INCLUDE_DIRS})
 target_link_libraries(ZEDNodelets ${LINK_LIBRARIES})
 add_dependencies(
     ZEDNodelets