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Feat od 3.4 (#25)
* New OD parameters handling * CLang formatting * Import Rviz OD plugin (not yet working) * RViz plugin for Object Detection working * Fix OD tracking behavior * Add files via upload * OD Plugin readme images * Update README.md
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‎.gitignore

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# QtCtreator CMake
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CMakeLists.txt.user*
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# VS Code
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.vscode
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.vscode/*

‎rviz-plugin-zed-od/CMakeLists.txt

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cmake_minimum_required(VERSION 3.0.2)
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project(rviz_plugin_zed_od)
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find_package(catkin REQUIRED
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COMPONENTS
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rviz
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zed_interfaces
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)
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catkin_package(
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CATKIN_DEPENDS
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zed_interfaces
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)
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include_directories(${catkin_INCLUDE_DIRS})
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link_directories(${catkin_LIBRARY_DIRS})
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## This setting causes Qt's "MOC" generation to happen automatically.
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set(CMAKE_AUTOUIC ON)
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set(CMAKE_AUTOMOC ON)
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set(CMAKE_AUTORCC ON)
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## This plugin includes Qt widgets, so we must include Qt.
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## We'll use the version that rviz used so they are compatible.
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if(rviz_QT_VERSION VERSION_LESS "5")
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message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
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find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
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## pull in all required include dirs, define QT_LIBRARIES, etc.
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include(${QT_USE_FILE})
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else()
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message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
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find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
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## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies
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set(QT_LIBRARIES Qt5::Widgets)
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endif()
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include_directories(src/plugin/include)
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## Here we specify the list of source files.
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## The generated MOC files are included automatically as headers.
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set(SRC_FILES
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src/plugin/src/zed_od_display.cpp
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src/plugin/src/zed_od_info.cpp
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)
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set(INC_FILES
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src/plugin/include/zed_od_display.hpp
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src/plugin/include/zed_od_info.hpp
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)
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## An rviz plugin is just a shared library, so here we declare the
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## library to be called ``${PROJECT_NAME}`` (which is
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## "rviz_plugin_zed_od", and specify the list of source files we collected above
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## in ``${SRC_FILES}`` and ``${INC_FILES}``.
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add_library(${PROJECT_NAME}
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${SRC_FILES}
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${INC_FILES}
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)
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target_include_directories(${PROJECT_NAME} PUBLIC
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${zed_interfaces_INCLUDE_DIRS}
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${OGRE_INCLUDE_DIRS}
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${Qt5Widgets_INCLUDE_DIRS}
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)
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## Link the executable with whatever Qt libraries have been defined by
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## the ``find_package(Qt4 ...)`` line above, or by the
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## ``set(QT_LIBRARIES Qt5::Widgets)``, and with whatever libraries
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## catkin has included.
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##
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## Although this puts "rviz_plugin_zed_od" as the name of the library, cmake knows it is a
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## library and names the actual file something like
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## "librviz_plugin_zed_od.so", or whatever is appropriate for your
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## particular OS.
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target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ${catkin_LIBRARIES})
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# prevent pluginlib from using boost
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target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
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## Install rules
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install(TARGETS
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${PROJECT_NAME}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(FILES
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plugin_description.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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install(DIRECTORY media/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/media
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)
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install(DIRECTORY icons/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/icons
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)
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‎rviz-plugin-zed-od/README.md

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# Stereolabs ZED Camera - ROS Object Detection Rviz Plugin
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This package lets you visualize in the [ROS RViz application](http://wiki.ros.org/rviz) all the
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information provided by the Object Detection module of the ZED SDK used together with a ZED2 camera.
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**Note:** The main package [zed-ros-wrapper](https://github.com/stereolabs/zed-ros-wrapper)
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is required to correctly execute the ROS node to acquire data from a Stereolabs 3D camera.
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## Getting started
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- First, be sure to have installed the main ROS package to integrate the ZED cameras in the ROS framework: [zed-ros-wrapper](https://github.com/stereolabs/zed-ros-wrapper/#build-the-program)
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- [Install](#Installation) the package
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- Read the online documentation for [More information](https://www.stereolabs.com/docs/ros/)
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### Prerequisites
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- Ubuntu 18.04 or newer (Ubuntu 18 recommended)
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- [ZED SDK](https://www.stereolabs.com/developers/release/latest/) v3.4 or later
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- [ROS Melodic](http://wiki.ros.org/melodic/Installation/Ubuntu)
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### Installation
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The *zed_display_rviz* is a catking package.
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Install the [zed-ros-wrapper](https://www.stereolabs.com/documentation/guides/using-zed-with-ros/introduction.html) package
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following the [installation guide](https://github.com/stereolabs/zed-ros-wrapper#build-the-program)
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Install the [zed-ros-examples](https://github.com/stereolabs/zed-ros-examples) package following the [installation guide](https://github.com/stereolabs/zed-ros-examples#build-the-program)
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### Execution
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Available only if you own a ZED 2 camera:
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$ roslaunch zed_display_rviz display_zed2.launch
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![Object Detection parameters](images/rviz_obj_det.png)
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![Skeleton visualization](images/rviz_od_skeletons.png)
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![Multiclass visualization](images/rviz_od_multiclass.png)
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[Detailed information](https://www.stereolabs.com/docs/ros/object-detection/)

‎rviz-plugin-zed-od/icons/ZedObjDet.png

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‎rviz-plugin-zed-od/images/rviz_obj_det.png

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‎rviz-plugin-zed-od/images/rviz_od_multiclass.png

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‎rviz-plugin-zed-od/images/rviz_od_skeletons.png

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‎rviz-plugin-zed-od/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>rviz_plugin_zed_od</name>
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<version>0.1.0</version>
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<description>Plugin to display Object Detection results on Rviz</description>
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<maintainer email="[email protected]">STEREOLABS</maintainer>
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<license>MIT</license>
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<url type="website">https://www.stereolabs.com/</url>
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<url type="repository">https://github.com/stereolabs/zed-ros-wrapper</url>
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<url type="bugtracker">https://github.com/stereolabs/zed-ros-wrapper/issues</url>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>qtbase5-dev</build_depend>
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<build_depend>rviz</build_depend>
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<exec_depend>libqt5-core</exec_depend>
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<exec_depend>libqt5-gui</exec_depend>
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<exec_depend>libqt5-widgets</exec_depend>
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<exec_depend>rviz</exec_depend>
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<depend>zed_interfaces</depend>
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<export>
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<rviz plugin="${prefix}/plugin_description.xml"/>
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</export>
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</package>

‎rviz-plugin-zed-od/plugin_description.xml

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<library path="lib/librviz_plugin_zed_od">
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<class name="rviz_plugin_zed_od/ZedOdDisplay"
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type="rviz_plugin_zed_od::displays::ZedOdDisplay"
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base_class_type="rviz::Display">
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<description>
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Displays the results of the Object Detection module of the Stereolabs ZED SDK.
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</description>
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<message_type>zed_interfaces/ObjectsStamped</message_type>
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</class>
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</library>

‎rviz-plugin-zed-od/src/plugin/include/zed_od_display.hpp

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/*
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* MIT License
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*
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* Copyright (c) 2020 Stereolabs
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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#ifndef ZED_OD_PLUGIN_HPP
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#define ZED_OD_PLUGIN_HPP
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#include <zed_interfaces/ObjectsStamped.h>
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#include <rviz/message_filter_display.h>
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#include <rviz/properties/bool_property.h>
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#include <rviz/properties/float_property.h>
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#include <OGRE/OgreVector3.h>
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#include <OGRE/OgreSceneNode.h>
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#include <OGRE/OgreSceneManager.h>
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#include <map>
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#include "zed_od_info.hpp"
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namespace rviz_plugin_zed_od
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{
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namespace displays
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{
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typedef std::shared_ptr<ZedOdInfo> objectPtr;
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class ZedOdDisplay : public
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rviz::MessageFilterDisplay<zed_interfaces::ObjectsStamped> {
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Q_OBJECT
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public:
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ZedOdDisplay();
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~ZedOdDisplay();
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void onInitialize() override;
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void reset() override;
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private:
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void processMessage(const zed_interfaces::ObjectsStamped::ConstPtr& msg);
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void createOrUpdateObject(zed_interfaces::Object& obj);
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void invalidateObjs();
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void removeNotValidObjs();
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private slots:
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void updateShowSkeleton();
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void updateShowLabel();
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void updateAlpha();
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void updateShowBBox();
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void updateLinkSize();
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void updateJointRadius();
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void updateLabelScale();
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protected:
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/** @brief Overridden from MessageFilterDisplay to get arrow/axes visibility correct. */
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void onEnable() override;
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void onDisable() override;
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private:
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rviz::FloatProperty* mPropAlpha;
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rviz::BoolProperty* mPropShowSkeleton;
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rviz::BoolProperty* mPropShowLabel;
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rviz::BoolProperty* mPropShowBBox;
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rviz::FloatProperty* mPropLinkSize;
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rviz::FloatProperty* mPropJointRadius;
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rviz::FloatProperty* mPropLabelScale;
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std::map<int16_t,objectPtr> mObjects;
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std::map<int16_t,bool> mObjUpdated;
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};
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} // namespace displays
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} // namespace rviz_plugin_zed_od
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#endif // #define ZED_OD_PLUGIN_HPP

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