[WIP] Update OD module

zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp

@@ -1086,16 +1086,33 @@ void ZEDWrapperNodelet::readObjDetParams()
       }
       NODELET_INFO_STREAM(" * Detection max range\t\t-> " << mObjDetMaxRange);
 
-      int model;
-      mNhNs.getParam("object_detection/model", model);
-      if (model < 0 || model >= static_cast<int>(sl::OBJECT_DETECTION_MODEL::LAST))
+      std::string model_str;
+      mNhNs.getParam("object_detection/model", model_str);
+
+      NODELET_DEBUG_STREAM(" 'object_detection.model': " << model_str.c_str());
+
+      bool matched = false;
+      for (int idx = static_cast<int>(sl::OBJECT_DETECTION_MODEL::MULTI_CLASS_BOX_FAST);
+           idx < static_cast<int>(sl::OBJECT_DETECTION_MODEL::CUSTOM_BOX_OBJECTS); idx++)
+      {
+        sl::OBJECT_DETECTION_MODEL test_model = static_cast<sl::OBJECT_DETECTION_MODEL>(idx);
+        std::string test_model_str = sl::toString(test_model).c_str();
+        std::replace(test_model_str.begin(), test_model_str.end(), ' ',
+                     '_');  // Replace spaces with underscores to match the YAML setting
+        // NODELETDEBUG(" Comparing '%s' to '%s'", test_model_str.c_str(), model_str.c_str());
+        if (model_str == test_model_str)
+        {
+          mObjDetModel = test_model;
+          matched = true;
+          break;
+        }
+      }
+      if (!matched)
       {
-        NODELET_WARN("Detection model not valid. Forced to the default value");
-        model = static_cast<int>(mObjDetModel);
+        NODELET_WARN_STREAM( "The value of the parameter 'object_detection.model' is not valid: '"
+                                             << model_str << "'. Using the default value.");
       }
-      mObjDetModel = static_cast<sl::OBJECT_DETECTION_MODEL>(model);
-
-      NODELET_INFO_STREAM(" * Detection model\t\t-> " << sl::toString(mObjDetModel));
+      NODELET_INFO_STREAM(" * Object Det. model:\t" << sl::toString(mObjDetModel).c_str());
 
       mNhNs.getParam("object_detection/mc_people", mObjDetPeopleEnable);
       NODELET_INFO_STREAM(" * Detect people\t\t-> " << (mObjDetPeopleEnable ? "ENABLED" : "DISABLED"));

zed_wrapper/params/common.yaml

@@ -80,8 +80,7 @@ sensors:
 
 object_detection:
     od_enabled:                 false                           # True to enable Object Detection [not available for ZED]
-    model:                      0                               # '0': MULTI_CLASS_BOX - '1': MULTI_CLASS_BOX_ACCURATE
-    confidence_threshold:       50                              # Minimum value of the detection confidence of an object [0,100]
+    model:                      'MULTI_CLASS_BOX_ACCURATE'      # 'MULTI_CLASS_BOX_FAST', 'MULTI_CLASS_BOX_MEDIUM', 'MULTI_CLASS_BOX_ACCURATE', 'PERSON_HEAD_BOX_FAST', 'PERSON_HEAD_BOX_ACCURATE'
     max_range:                  15.                             # Maximum detection range
     object_tracking_enabled:    true                            # Enable/disable the tracking of the detected objects
     mc_people:                  true                            # Enable/disable the detection of persons for 'MULTI_CLASS_BOX_X' models

zed_wrapper/params/zed.yaml

@@ -9,4 +9,4 @@ general:
 
 depth:
     min_depth:                  0.3         # Min: 0.3, Max: 3.0 - Default 0.7 - Note: reducing this value wil require more computational power and GPU memory
-    max_depth:                  10.0        # Max: 40.0
+    max_depth:                  15.0        # Max: 40.0

zed_wrapper/params/zed2.yaml

@@ -9,5 +9,5 @@ general:
 
 depth:
     min_depth:                  0.3         # Min: 0.2, Max: 3.0 - Default 0.7 - Note: reducing this value wil require more computational power and GPU memory
-    max_depth:                  20.0        # Max: 40.0
+    max_depth:                  15.0        # Max: 40.0
 

zed_wrapper/params/zed2i.yaml

@@ -9,4 +9,4 @@ general:
 
 depth:
     min_depth:                  0.3         # Min: 0.3, Max: 3.0 - Default 0.7 - Note: reducing this value wil require more computational power and GPU memory
-    max_depth:                  10.0        # Max: 40.0
+    max_depth:                  15.0        # Max: 40.0

zed_wrapper/params/zedm.yaml

@@ -9,4 +9,4 @@ general:
 
 depth:
     min_depth:                  0.1         # Min: 0.1, Max: 3.0 - Default 0.3 - Note: reducing this value wil require more computational power and GPU memory
-    max_depth:                  10.0        # Max: 20.0  
+    max_depth:                  15.0        # Max: 20.0  

zed_wrapper/params/zedx.yaml

@@ -9,5 +9,5 @@ general:
 
 depth:
     min_depth:                  0.2          # Min: 0.2, Max: 3.0 - Default 0.7 - Note: reducing this value wil require more computational power and GPU memory
-    max_depth:                  10.0         # Max: 40.0
+    max_depth:                  15.0         # Max: 40.0
 

zed_wrapper/params/zedxm.yaml

@@ -9,4 +9,4 @@ general:
 
 depth:
     min_depth:                  0.1          # Min: 0.1, Max: 3.0 - Default 0.7 - Note: reducing this value wil require more computational power and GPU memory
-    max_depth:                  10.0         # Max: 40.0
+    max_depth:                  15.0         # Max: 40.0