Made the detector_type param case-insensitive

object_detection/object_detection/ObjectDetection.py

@@ -65,12 +65,8 @@ def __init__(self):
         self.confidence_threshold = self.get_parameter('model_params.confidence_threshold').value
         self.show_fps = self.get_parameter('model_params.show_fps').value
 
-        # raise an exception if specified detector was not found
-        if self.detector_type not in self.available_detectors:
-            raise ModuleNotFoundError(self.detector_type + " Detector specified in config was not found. " +
-                                      "Check the Detectors dir for available detectors.")
-        else:
-            self.load_detector()
+        # Load the detector
+        self.load_detector()
 
         self.img_pub = self.create_publisher(Image, self.output_img_topic, 10)
         self.bb_pub = None
@@ -95,15 +91,23 @@ def discover_detectors(self):
         self.available_detectors.remove('__init__')
 
     def load_detector(self):
-        detector_mod = importlib.import_module(".Detectors." + self.detector_type,
-                                               "object_detection")
-        detector_class = getattr(detector_mod, self.detector_type)
-        self.detector = detector_class()
+        for detector_name in self.available_detectors:
+            if self.detector_type.lower() == detector_name.lower():
+
+                detector_mod = importlib.import_module(".Detectors." + detector_name,
+                                                       "object_detection")
+                detector_class = getattr(detector_mod, detector_name)
+                self.detector = detector_class()
 
-        self.detector.build_model(self.model_dir_path, self.weight_file_name)
-        self.detector.load_classes(self.model_dir_path)
+                self.detector.build_model(self.model_dir_path, self.weight_file_name)
+                self.detector.load_classes(self.model_dir_path)
 
-        print("Your detector: {} has been loaded !".format(self.detector_type))
+                print("Your detector: {} has been loaded !".format(detector_name))
+                return
+
+        raise ModuleNotFoundError(self.detector_type + " Detector specified in config was not found. " +
+                                      "Check the Detectors dir for available detectors.")
+
 
     def detection_cb(self, img_msg):
         cv_image = self.bridge.imgmsg_to_cv2(img_msg, "bgr8")