GPU-accelerated obstacle detection #620
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Removed typedef
…tuff, modify zed launch file
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…o percep/obj-detect
…rect frame, use manif
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Summary
Closes #597 #601
What features did you add, bugs did you fix, etc?
I added Tensor RT in order to run the the object detection code. Then, using the data collected I locate the object using the point cloud. Additionally, this data is published to the tf tree under "detectedobject" and heading information is published under the "/object_detector/detected_object" topic.
Did you add documentation to the wiki?
No I'm not sure how to do this
How was this code tested?
I ran the ZED_test.launch file and set the map base to the zed camera frame. Then I rosran the objected_detector_node and the algorithm correctly identified the object in 3D space.
Here is a video of the setup running https://youtu.be/vapBOepGkZY
Did you test this in sim?
Yes/No
No
Did you test this on the rover?
Yes/No
No
Did you add unit tests?
Yes/No (If not explain why not)
No