Hello,
I am trying to use the ZED object detection modules for object segmentation. My system consists of a Jetson AGX Orin and a ZED X stereo camera, and I am deploying this setup on ROS 2 Humble.
However, I have realized that the ROS 2 wrapper does not output the segmentation mask. Is there a specific parameter I need to set, or is there another way to obtain the segmentation masks?
Here is my configuration for the common.yaml file.
object_detection:
od_enabled: true # True to enable Object Detection
model: "MULTI_CLASS_BOX_MEDIUM" # 'MULTI_CLASS_BOX_FAST', 'MULTI_CLASS_BOX_MEDIUM', 'MULTI_CLASS_BOX_ACCURATE', 'PERSON_HEAD_BOX_FAST', 'PERSON_HEAD_BOX_ACCURATE'
allow_reduced_precision_inference: true # Allow inference to run at a lower precision to improve runtime and memory usage
max_range: 20.0 # [m] Defines a upper depth range for detections
confidence_threshold: 50.0 # [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
filtering_mode: 1 # '0': NONE - '1': NMS3D - '2': NMS3D_PER_CLASS
mc_people: true # [DYNAMIC] - Enable/disable the detection of persons for 'MULTI_CLASS_X' models
mc_vehicle: false # [DYNAMIC] - Enable/disable the detection of vehicles for 'MULTI_CLASS_X' models
mc_bag: false # [DYNAMIC] - Enable/disable the detection of bags for 'MULTI_CLASS_X' models
mc_animal: false # [DYNAMIC] - Enable/disable the detection of animals for 'MULTI_CLASS_X' models
mc_electronics: false # [DYNAMIC] - Enable/disable the detection of electronic devices for 'MULTI_CLASS_X' models
mc_fruit_vegetable: false # [DYNAMIC] - Enable/disable the detection of fruits and vegetables for 'MULTI_CLASS_X' models
mc_sport: false # [DYNAMIC] - Enable/disable the detection of sport-related objects for 'MULTI_CLASS_X' models