Open MRo47 opened 2 weeks ago
Complete launch file and yaml config
Hi, thanks for the report, indeed there is a minor bug here, fix will be on the way but just to recap:
passthrough
output from NN node, can be enabled with left_nn.i_enable_passthrough: true
, when you pass that image to the detection overlay you should see the bounding boxes aligned to the squeezed imagedesqueeze
parameter which would apply correct transformation, this will be fixed to mimic the behavior in spatial_bb, this is a small modification so if you have built depthai-ros from source you can make the modification or wait for the next release.@Serafadam Thank you for the pointers above.
Yup that was my guess that it was the scaling done my manip node before input to the NN and I can confirm that on setting left_nn.i_enable_passthrough: true
and doing the overlay on the output topic the output is correctly aligned.
From a design perspective I have 3 questions
WxH
so they should expect the detections to be of same size right?DetectionOverlay2D filter
node you will need to have information on the "squeeze ratios" meaning input_image_size:NN_input_size
, are these captured somewhere in a topic? or would this require passing the NN configs
to the DetectionOverlay2D filter
?An implementation of this dequeeze is available on this branch to test out. A small modification to the DetectionOverlayNode in launch file is needed for it:
remappings=[
("rgb/preview/image_raw", "/oak/left/image_raw"),
("rgb/preview/camera_info", "/oak/left_nn/camera_info"),
("nn/detections", "/oak/left_nn/detections"),
],
Shouldn't desqueeze be performed on the Depth node directly? My reasoning is that the user gave the model input of size WxH so they should expect the detections to be of same size right?
At this moment this is not implemented in the API, this is the default behavior in both C++ and Python API as described in the documentation. This might change in the future.
To perform desqueeze on DetectionOverlay2D filter node you will need to have information on the "squeeze ratios" meaning input_image_size:NN_input_size, are these captured somewhere in a topic? or would this require passing the NN configs to the DetectionOverlay2D filter?
Currently it is done based on the camera_info topic taken from passthrough image, unfortunately ROS Vision message doesn't carry this information
Hey @Serafadam
I was able to have a workaround for this in #606
Version: 1 commit behind
iron
commit hashcf5d2aaee9117298ea1632c98ffd36a5d7d535ac
Issue
Depth
pipeline on OAK-D Pro W camera.Steps to reproduce
Set config (camera.yaml) as below
Modify launch file to add the
depthai_filters::Detection2DOverlay
anddetection_labels
, these have to be set up for the overlay as well as the default are mobilenet ssd labels.Below is how the overlay looks, the person doesn't look like this on camera, trust me and we don't have ghosts ;)