Rescale detections to input image

[MRo47]

Overview

Author: Myron Rodrigues

Issue

Issue link (if present): #604
Issue description: Currently the NN detection output is not to scale with the input image,
I've also passed the socket parameter in nn_wrapper.cpp the default is correct but if supplied by user through constructor this might be incorrectly set

Changes

ROS distro: iron
List of changes:

• Add a bool paramater to <sensor>_nn nodes that rescales the detection to its original input: i_desqueeze_output: false(default)
• Pass the input image dimensions to ImgDetectionConverter in depthai-ros/depthai_ros_driver/include/depthai_ros_driver/dai_nodes/nn/detection.hpp if parameter is set.

Testing

Hardware used: OAK-D Pro Wide
Depthai library version: 2.28.0
Depthai ros version: cf5d2aaee9117298ea1632c98ffd36a5d7d535ac a commit behind iron

Visuals from testing on RGB socket

camera.yaml

/**:
  ros__parameters:
    camera:
      i_enable_imu: true
      i_enable_ir: true
      i_nn_type: RGB
      i_pipeline_type: RGB
    nn:
      i_nn_config_path: depthai_ros_driver/yolo
      i_desqueeze_output: true

complete launch file: here

camera.launch.py

detection_viz_node = ComposableNode(
    package="depthai_filters",
    plugin="depthai_filters::Detection2DOverlay",
    parameters=[
        {"label_map": detection_labels},
    ],
    remappings=[
        ("rgb/preview/image_raw", "/oak/rgb/image_raw"),
        ("nn/detections", "/oak/nn/detections"),
    ],
)

Not setting nn.i_desqueeze_output ie. default (false)

Setting nn.i_desqueeze_output: true

Visuals from testing on mono left socket

camera.launch.py

detection_viz_node = ComposableNode(
    package="depthai_filters",
    plugin="depthai_filters::Detection2DOverlay",
    parameters=[
        {"label_map": detection_labels},
    ],
    remappings=[
        ("rgb/preview/image_raw", "/oak/left/image_raw"),
        ("nn/detections", "/oak/left_nn/detections"),
    ],
)

camera.yaml

/**:
  ros__parameters:
    camera:
      i_enable_imu: true
      i_enable_ir: true
      i_nn_type: RGB
      i_pipeline_type: Depth
    left:
      i_publish_topic: true
      i_enable_nn: true
      i_disable_node: false
      i_resolution: '720P'
    left_nn:
      i_board_socket_id: 1
      i_nn_config_path: depthai_ros_driver/yolo
      i_desqueeze_output: true

Setting left_nn.i_desqueeze_output: true