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IntelligentRoboticsLabs / gb_visual_detection_3d

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Waiting for image. #24

Closed santarone closed 4 years ago

santarone commented 4 years ago

Hello. Thank you for sharing the great project.

There are a few problems.

First, I installed all the necessary elements in advance. Darknet_ros also works normally.

I use a model that I learned personally. This includes hammer pliers, etc.

my specification

Ubuntu 18.04 LTS YOLO v3 Intel D435 Ross Melodic That's it.

First

roscore

Run

roslaunch realense2_camera rs_camera.launch filters:=pointcloud

on it.

rosrun rviz rviz

It's been launched.

After this

roslaunch darknet_ros_3d darknet_ros_3d.launch

when

Waiting for image. It appears consecutively. What should I do? Please give me some advice.

Attached are the parameters and the rostopic list.

PARAMETERS

rostopic list /camera/color/camera_info /camera/color/image_raw /camera/color/image_raw/compressed /camera/color/image_raw/compressed/parameter_descriptions /camera/color/image_raw/compressed/parameter_updates /camera/color/image_raw/compressedDepth /camera/color/image_raw/compressedDepth/parameter_descriptions /camera/color/image_raw/compressedDepth/parameter_updates /camera/color/image_raw/theora /camera/color/image_raw/theora/parameter_descriptions /camera/color/image_raw/theora/parameter_updates /camera/depth/camera_info /camera/depth/color/points /camera/depth/image_rect_raw /camera/depth/image_rect_raw/compressed /camera/depth/image_rect_raw/compressed/parameter_descriptions /camera/depth/image_rect_raw/compressed/parameter_updates /camera/depth/image_rect_raw/compressedDepth /camera/depth/image_rect_raw/compressedDepth/parameter_descriptions /camera/depth/image_rect_raw/compressedDepth/parameter_updates /camera/depth/image_rect_raw/theora /camera/depth/image_rect_raw/theora/parameter_descriptions /camera/depth/image_rect_raw/theora/parameter_updates /camera/depth_registered/points /camera/extrinsics/depth_to_color /camera/extrinsics/depth_to_infra1 /camera/extrinsics/depth_to_infra2 /camera/infra1/camera_info /camera/infra1/image_rect_raw /camera/infra1/image_rect_raw/compressed /camera/infra1/image_rect_raw/compressed/parameter_descriptions /camera/infra1/image_rect_raw/compressed/parameter_updates /camera/infra1/image_rect_raw/compressedDepth /camera/infra1/image_rect_raw/compressedDepth/parameter_descriptions /camera/infra1/image_rect_raw/compressedDepth/parameter_updates /camera/infra1/image_rect_raw/theora /camera/infra1/image_rect_raw/theora/parameter_descriptions /camera/infra1/image_rect_raw/theora/parameter_updates /camera/infra2/camera_info /camera/infra2/image_rect_raw /camera/infra2/image_rect_raw/compressed /camera/infra2/image_rect_raw/compressed/parameter_descriptions /camera/infra2/image_rect_raw/compressed/parameter_updates /camera/infra2/image_rect_raw/compressedDepth /camera/infra2/image_rect_raw/compressedDepth/parameter_descriptions /camera/infra2/image_rect_raw/compressedDepth/parameter_updates /camera/infra2/image_rect_raw/theora /camera/infra2/image_rect_raw/theora/parameter_descriptions /camera/infra2/image_rect_raw/theora/parameter_updates /camera/pointcloud/parameter_descriptions /camera/pointcloud/parameter_updates /camera/realsense2_camera_manager/bond /camera/rgb/image_raw /camera/rgb_camera/auto_exposure_roi/parameter_descriptions /camera/rgb_camera/auto_exposure_roi/parameter_updates /camera/rgb_camera/parameter_descriptions /camera/rgb_camera/parameter_updates /camera/stereo_module/auto_exposure_roi/parameter_descriptions /camera/stereo_module/auto_exposure_roi/parameter_updates /camera/stereo_module/parameter_descriptions /camera/stereo_module/parameter_updates /clicked_point /darknet_ros/bounding_boxes /darknet_ros/check_for_objects/cancel /darknet_ros/check_for_objects/feedback /darknet_ros/check_for_objects/goal /darknet_ros/check_for_objects/result /darknet_ros/check_for_objects/status /darknet_ros/detection_image /darknet_ros/found_object /darknet_ros_3d/bounding_boxes /darknet_ros_3d/markers /diagnostics /initialpose /move_base_simple/goal /rosout /rosout_agg /tf /tf_static

rkmth commented 4 years ago

Hi @santarone ,

I am working with same setup as you i.e: Ubuntu 18.04 LTS YOLO v3 Intel D435 Ross Melodic

I do not have the "waiting for image" error as I modified the Config camera image topic in darknet_ros_3d.lauch to this:

I can visualize the bounding boxes but I can't see the 3D point cloud in RVIZ. Any help will be greatly appreciated. Thanks

santarone commented 4 years ago

Hi sir! i solved my problem. subscriber was problem.

in Darknet_ros_3d.launch

<!-- Config camera image topic  -->
  <arg name="camera_rgb_topic" default="/camera/color/image_raw" />

any way. if you want display cloud point 2 at rviz via intelrealsense try launch

$ roslaunch realsense2_camera rs_rgbd.launch filters:=pointcloud

before darknet_3d launch

and at rviz Add -> By topic /depth -> /color -> /points -> PointCloud2

I hope it works to you as i do. thanks for comment.

have a great day!

fmrico commented 4 years ago

Great @santarone !!

And thanks @raghukamath ;)