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luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.
MIT License
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Oak D Lite is not doing any object detection #387

Closed Femi1984 closed 8 months ago

Femi1984 commented 10 months ago

Can Oak D Lite camera do object and spatial detection? If so what are the specific params that need to be considered to make it possible. I'm having a hard time making the camera do object detection with this depth-ros package. The RGB and spatial shows in output image but no detection

Serafadam commented 10 months ago

Hi, Yes, OAK D Lite can perform spatial detections. In this repository we have several code examples, could you add more information as mentioned in bug report template?

Femi1984 commented 10 months ago

I'm not getting any errors. I'm launching the example_marker_publisher from the depthai_ros_driver repository. When launched, the raw_image shows in rviz, but //oak/nn/ text_marker does not show. When I echo the /oak/nn/text_marker topic, no data is passing through it.I'm trying to accomplish spatial_mobilenet.py from the depthai_python example repository with the oak d lite in ros. I'm not sure how to go about this

Serafadam commented 10 months ago

Hi, can you try launching spatial_bb launch and see if that works for you?

Femi1984 commented 10 months ago

I'm using foxy, 20.04

Femi1984 commented 10 months ago

This is error that I'm gettin

[component_container-2] [ERROR] [1693941467.630870360] [oak_container]: Component constructor threw an exception: IMU(12) - IMU invalid settings!: IMU not detected. Your board doesn't have IMU or requires firmware update (Set imu.enableFirmwareUpdate(True) explicitly.). 1, 321 [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'oak' of type 'depthai_ros_driver::Camera' in container '/oak_container': Component constructor threw an exception: IMU(12) - IMU invalid settings!: IMU not detected. Your board doesn't have IMU or requires firmware update (Set imu.enableFirmwareUpdate(True) explicitly.). 1, 321 [component_container-2] [INFO] [1693941467.639676439] [oak_container]: Load Library: /opt/ros/foxy/lib/librectify.so [component_container-2] [INFO] [1693941467.648952381] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1693941467.649035037] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/rectify_color_node' in container 'oak_container' [component_container-2] [INFO] [1693941467.683528661] [oak_container]: Load Library: /opt/ros/foxy/lib/libdepth_image_proc.so [component_container-2] [INFO] [1693941467.694078856] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1693941467.694201097] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1693941467.694220842] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1693941467.694234730] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1693941467.694246730] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1693941467.694257962] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1693941467.694268170] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1693941467.694278186] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1693941467.694288010] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-2] [ERROR] [1693941467.703559439] [oak_container]: Failed to find class with the requested plugin name 'depthai_filters::SpatialBB' in the loaded library [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/point_cloud_xyzrgb_node' in container 'oak_container' [ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'spatial_bb_node' of type 'depthai_filters::SpatialBB' in container 'oak_container': Failed to find class with the requested plugin

Serafadam commented 10 months ago

Hi, Foxy distribution is not supported as it is EOL. To try out SpatialBB, you could try running it in docker as such: docker run -it -v /dev/:/dev/ --privileged -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix luxonis/depthai-ros:v2.8.0-humble ros2 launch depthai_filters spatial_bb.launch.py

Serafadam commented 8 months ago

Closing due to inactivity, please reopen if you have further questions/remarks.