Minor fixes

CMakeLists.txt

@@ -7,7 +7,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    #add_compile_options(-Wall -Wextra -Wpedantic)
+    add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 ################################################
@@ -110,6 +110,10 @@ install(DIRECTORY launch
     DESTINATION share/${PROJECT_NAME}/
 )
 
+install(DIRECTORY models
+    DESTINATION share/${PROJECT_NAME}/
+)
+
 install(DIRECTORY params
     DESTINATION share/${PROJECT_NAME}/
 )

include/object_detection_openvino/detectionObject.hpp

@@ -118,7 +118,12 @@ struct DetectionObject{
 	}
 
 	/**
-	 * @brief Relational operator of OBJECT_DETECTION_OPENVINO__YOLO_PARAMS_HPP_bject &s2) const {
+	 * @brief Relational operator of the confidence of the detected object.
+	 * 
+	 * @param s2 Object to compare to. 
+	 * @return True if the left object has lower confidence than the right one. False, otherwise.
+	 */
+	bool operator<(const DetectionObject &s2) const {
 		return this->confidence < s2.confidence;
 	}
 

params/default_params.yaml

@@ -11,7 +11,7 @@ object_detection:
     detections_3d_topic: detections_3d
     # Thresholds parameters
     model_thresh: 0.4
-    model_iou_thresh: 0. 4
+    model_iou_thresh: 0.4
     # Model parameters
     model_xml: model.xml
     model_bin: model.bin

src/objectDetectionVPU.cpp

@@ -94,40 +94,55 @@ void ObjectDetectionVPU::get_params(){
 	// Model parameters
 	this->declare_parameter("model_thresh", 0.3);
 	this->get_parameter("model_thresh", thresh_);
+	RCLCPP_INFO(this->get_logger(), "The parameter model_thresh is set to: [%f]", thresh_);
 	this->declare_parameter("model_iou_thresh", 0.4);
 	this->get_parameter("model_iou_thresh", iou_thresh_);
+	RCLCPP_INFO(this->get_logger(), "The parameter model_iou_thresh is set to: [%f]", iou_thresh_);
 
 	// Network parameters
 	this->declare_parameter("model_xml", "");
 	this->get_parameter("model_xml", model_filename_);
+	RCLCPP_INFO(this->get_logger(), "The parameter model_xml is set to: [%s]", model_filename_.c_str());
 	this->declare_parameter("model_bin", "");
 	this->get_parameter("model_bin", bin_filename_);
+	RCLCPP_INFO(this->get_logger(), "The parameter model_bin is set to: [%s]", bin_filename_.c_str());
 	this->declare_parameter("model_labels", "");
 	this->get_parameter("model_labels", label_filename_);
+	RCLCPP_INFO(this->get_logger(), "The parameter model_labels is set to: [%s]", label_filename_.c_str());
 	this->declare_parameter("model_type", "");
 	this->get_parameter("model_type", network_type_);
+	RCLCPP_INFO(this->get_logger(), "The parameter model_type is set to: [%s]", network_type_.c_str());
 	this->declare_parameter("device_target", "CPU");
 	this->get_parameter("device_target", device_target_);
+	RCLCPP_INFO(this->get_logger(), "The parameter device_target is set to: [%s]", device_target_.c_str());
 
 	this->declare_parameter("camera_frame", "camera_link");
 	this->get_parameter("camera_frame", camera_frame_);
+	RCLCPP_INFO(this->get_logger(), "The parameter camera_frame is set to: [%s]", camera_frame_.c_str());
 
 	// Topics
 	this->declare_parameter("color_topic", "/camera/color/image_raw");
 	this->get_parameter("color_topic", color_topic_);
+	RCLCPP_INFO(this->get_logger(), "The parameter color_topic is set to: [%s]", color_topic_.c_str());
 	this->declare_parameter("points_topic", "");
 	this->get_parameter("points_topic", pointcloud_topic_);
+	RCLCPP_INFO(this->get_logger(), "The parameter points_topic is set to: [%s]", pointcloud_topic_.c_str());
 	this->declare_parameter("detection_info_topic", "/detection_info");
 	this->get_parameter("detection_info_topic", detection_info_topic_);
+	RCLCPP_INFO(this->get_logger(), "The parameter detection_info_topic is set to: [%s]", detection_info_topic_.c_str());
 	this->declare_parameter("detection_image_topic", "/detection_image");
 	this->get_parameter("detection_image_topic", detection_image_topic_);
+	RCLCPP_INFO(this->get_logger(), "The parameter detection_image_topic is set to: [%s]", detection_image_topic_.c_str());
 	this->declare_parameter("detections_2d_topic", "/detections_2d");
 	this->get_parameter("detections_2d_topic", detections_2d_topic_);
+	RCLCPP_INFO(this->get_logger(), "The parameter detections_2d_topic is set to: [%s]", detections_2d_topic_.c_str());
 	this->declare_parameter("detections_3d_topic", "/detections_3d");
 	this->get_parameter("detections_3d_topic", detections_3d_topic_);
+	RCLCPP_INFO(this->get_logger(), "The parameter detections_3d_topic is set to: [%s]", detections_3d_topic_.c_str());
 
 	this->declare_parameter("show_fps", false);
 	this->get_parameter("show_fps", show_fps_);
+	RCLCPP_INFO(this->get_logger(), "The parameter show_fps is set to: [%s]", show_fps_ ? "true" : "false");
 }
 
 // TODO(ros2) Implement when SubscriberStatusCallback is available

src/objectDetectionVPU_node.cpp

@@ -16,7 +16,7 @@
 int main(int argc, char** argv){
 	rclcpp::init(argc, argv);
 
-	auto node = std::make_shared<ObjectDetectionVPU>("object_detection_vpu");
+	auto node = std::make_shared<ObjectDetectionVPU>("object_detection");
 	rclcpp::spin(node);
 	rclcpp::shutdown();
 	return 0;

src/openvino.cpp

@@ -201,10 +201,10 @@ std::vector<DetectionObject> Openvino::get_detection_objects(size_t height,
 
 	// Filtering overlapping boxes
 	std::sort(objects.begin(), objects.end(), std::greater<DetectionObject>());
-	for (int i = 0; i < objects.size(); ++i){
+	for (unsigned int i = 0; i < objects.size(); ++i){
 		if (objects[i].confidence == 0)
 			continue;
-		for (int j = i + 1; j < objects.size(); ++j) {
+		for (unsigned int j = i + 1; j < objects.size(); ++j) {
 			if (intersection_over_union(objects[i], objects[j]) >= iou_threshold) {
 				objects[j].confidence = 0;
 			}