Enable non square resolution for custom object detection

[leonce-m]

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, bug report, or anything other than a feature request directly related to this project.

Proposal

As evident in the ZED SDK custom object detection sample, the onnx dynamic input shape can be set to a non-square resolution.

detection_parameters.custom_onnx_dynamic_input_shape = sl::Resolution(320, 320);

But in the ros2 wrapper it is set to a single integer value, which I assume default constructs a square sl::Resolution with width and height equal to mYoloOnnxSize.

od_p.custom_onnx_dynamic_input_shape = mYoloOnnxSize

I propose allowing the object_detection.custom_onnx_input_size ros2 parameter to be an array or adding object_detection.custom_onnx_input_width and object_detection.custom_onnx_input_height, such that non-square input tensors can be used.

Use-Case

Running YOLO inference on a non-square input tensor.

Anything else?

No response

[Myzhar]

This is not a ZED ROS2 Wrapper issue.
You already posted the same request to the Forum:
https://community.stereolabs.com/t/custom-object-detection-non-square-aspect-ratio/10393
Please do not post duplicate requests.

The Support Team will reply to your request as soon as possible.

[leonce-m]

@Myzhar It is a wrapper issue though, because the wrapper is shadowing this capability of the zed sdk implementation. I only realized this after I created the request in the forum.

[Myzhar]

Feature request noted and added to the roadmap.

[Astro-Coco]

Hi! Me and my team are having the same issue, we would like to run custom object detection on our zed 2i and zed mini using the zed ros2 wrapper.

I would like to know if the feature was implemented successfully, or when was it planned to be integrated.

If it’s not integrated yet, is our only option to use a square model for custom object detection?

Thanks a lot!

[Myzhar]

The feature is in the roadmap. We will add it soon.