search

spencer-project / spencer_people_tracking

Multi-modal ROS-based people detection and tracking framework for mobile robots developed within the context of the EU FP7 project SPENCER.
http://www.spencer.eu/
668 stars 327 forks source link

Integrating 3 RGB-d cameras #101

Open hwgat opened 3 years ago

hwgat commented 3 years ago

Hi there,

I am trying to aggregate detections from 3 rgb-d cameras. I did this by publishing the detections to 3 separate DetectedPersons topics, and then adding a third ConvertToCompositeDetectionsNodelet in aggregate_rgbd_upper_body.launch.

I received the error "CompositeDetectedPersonsSynchronizer not implemented for 3 input topics"

Do you have any advice for implementing an aggregator that will allow 3 input topics?

I am using ROS melodic and Ubuntu 18.04.

Cheers,

Alex-Beh commented 3 years ago

Hi, you should add thirdSet in this function(onNewInputMessagesReceived) and modify the message filter callback here.