SDK v4 compatibility OK

stereolabs · Myzhar · Apr 3, 2023 · Mar 31, 2023 · Mar 31, 2023 · Mar 31, 2023
commit 8aa953b7a7b002cb8e9b54672a1bc5d13d8b2d54
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -1,6 +1,14 @@
 CHANGELOG
 =========
 
+2023-03-31
+----------
+- Support for ZED SDK v4.0
+- Remove parameter `object_detection.body_fitting`
+- Remove parameter `depth.sensing_mode`
+- Remove parameter `video.extrinsic_in_camera_frame`
+- Skeleton Tracking is no more available. Migrate to ROS 2 Wrapper if you need it.
+
 v3.8.x
 ------
 - Fix the frame links of barometer, magnetometer, and temperature sensors for ZED2i

diff --git a/zed-ros-interfaces b/zed-ros-interfaces
diff --git a/zed_nodelets/src/zed_nodelet/include/zed_wrapper_nodelet.hpp b/zed_nodelets/src/zed_nodelet/include/zed_wrapper_nodelet.hpp
@@ -541,7 +541,6 @@ class ZEDWrapperNodelet : public nodelet::Nodelet {
     sl::RESOLUTION mCamResol;
     int mCamFrameRate;
     sl::DEPTH_MODE mDepthMode;
-    sl::SENSING_MODE mCamSensingMode;
     int mGpuId;
     int mZedId;
     int mDepthStabilization;
@@ -645,7 +644,6 @@ class ZEDWrapperNodelet : public nodelet::Nodelet {
     bool mAreaMemory;
     bool mInitOdomWithPose;
     bool mResetOdom = false;
-    bool mUseOldExtrinsic = false;
     bool mUpdateDynParams = false;
     bool mPublishingData = false;
 
@@ -726,7 +724,7 @@ class ZEDWrapperNodelet : public nodelet::Nodelet {
     bool mObjDetFruitsEnable = true;
     bool mObjDetSportsEnable = true;
 
-    sl::DETECTION_MODEL mObjDetModel = sl::DETECTION_MODEL::MULTI_CLASS_BOX;
+    sl::OBJECT_DETECTION_MODEL mObjDetModel = sl::OBJECT_DETECTION_MODEL::MULTI_CLASS_BOX_MEDIUM;
 
     ros::Publisher mPubObjDet;
 }; // class ZEDROSWrapperNodelet

diff --git a/zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp b/zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp
diff --git a/zed_ros/CMakeLists.txt b/zed_ros/CMakeLists.txt
@@ -1,9 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
-
+cmake_minimum_required(VERSION 2.8.3)
 project(zed_ros)
-
-## Generate symbols for IDE indexer
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-
 find_package(catkin REQUIRED)
-catkin_metapackage()
+catkin_metapackage()
diff --git a/zed_wrapper/params/common.yaml b/zed_wrapper/params/common.yaml
@@ -34,11 +34,9 @@ general:
 
 video:
     img_downsample_factor:      0.5                             # Resample factor for images [0.01,1.0] The SDK works with native image sizes, but publishes rescaled image.
-    extrinsic_in_camera_frame:  true                            # 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]
 
 depth:
     quality:                    3                               # '0': NONE, '1': PERFORMANCE, '2': QUALITY, '3': ULTRA, '4': NEURAL
-    sensing_mode:               0                               # '0': STANDARD, '1': FILL (not use FILL for robotic applications)
     depth_stabilization:        1                               # `0`: disabled, `1`: enabled
     openni_depth_mode:          false                           # 'false': 32bit float meters, 'true': 16bit uchar 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, ...)

diff --git a/zed_wrapper/params/zed2.yaml b/zed_wrapper/params/zed2.yaml
@@ -23,7 +23,6 @@ object_detection:
     confidence_threshold:       50              # Minimum value of the detection confidence of an object [0,100]
     max_range:                  15.             # Maximum detection range
     object_tracking_enabled:    true            # Enable/disable the tracking of the detected objects
-    body_fitting:               false           # Enable/disable body fitting for 'HUMAN_BODY_X' models
     mc_people:                  true            # Enable/disable the detection of persons for 'MULTI_CLASS_BOX_X' models
     mc_vehicle:                 true            # Enable/disable the detection of vehicles for 'MULTI_CLASS_BOX_X' models
     mc_bag:                     true            # Enable/disable the detection of bags for 'MULTI_CLASS_BOX_X' models

diff --git a/zed_wrapper/params/zed2i.yaml b/zed_wrapper/params/zed2i.yaml
@@ -23,7 +23,6 @@ object_detection:
     confidence_threshold:       50              # Minimum value of the detection confidence of an object [0,100]
     max_range:                  15.             # Maximum detection range
     object_tracking_enabled:    true            # Enable/disable the tracking of the detected objects
-    body_fitting:               false           # Enable/disable body fitting for 'HUMAN_BODY_X' models
     mc_people:                  true            # Enable/disable the detection of persons for 'MULTI_CLASS_BOX_X' models
     mc_vehicle:                 true            # Enable/disable the detection of vehicles for 'MULTI_CLASS_BOX_X' models
     mc_bag:                     true            # Enable/disable the detection of bags for 'MULTI_CLASS_BOX_X' models

diff --git a/zed_wrapper/params/zedm.yaml b/zed_wrapper/params/zedm.yaml
@@ -23,7 +23,6 @@ object_detection:
     confidence_threshold:       50              # Minimum value of the detection confidence of an object [0,100]
     max_range:                  15.             # Maximum detection range
     object_tracking_enabled:    true            # Enable/disable the tracking of the detected objects
-    body_fitting:               false           # Enable/disable body fitting for 'HUMAN_BODY_X' models
     mc_people:                  true            # Enable/disable the detection of persons for 'MULTI_CLASS_BOX_X' models
     mc_vehicle:                 true            # Enable/disable the detection of vehicles for 'MULTI_CLASS_BOX_X' models
     mc_bag:                     true            # Enable/disable the detection of bags for 'MULTI_CLASS_BOX_X' models