UpperBodyDetector not publishing anything with Intel RealSense R200

brinij commented 7 years ago

Hello,

using Intel RealSense R200 RGB-D camera, I am launching tracking_single_rgbd_sensor.launch. I've done remapping of "camera" namespace into "/spencer/sensors/rgbd_front_top", so I can see PointCloud data in RViz, and TF-s are also matching fine. Camera is mounted on height of 1.55 m. Only problem that appear is NO DETECTION, meaning nothing is published on topics created by node : "/spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector"

My rosnode info /spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector :

Node [/spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector] Publications:

/spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/image/compressed/parameter_updates [dynamic_reconfigure/Config]
/spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/image/compressed/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
/spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/image/compressedDepth/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
/spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/detections [rwth_perception_people_msgs/UpperBodyDetector]
/spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/image/compressedDepth/parameter_updates [dynamic_reconfigure/Config]
/spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/image [sensor_msgs/Image]
/spencer/perception_internal/detected_persons/rgbd_front_top/upper_body [spencer_tracking_msgs/DetectedPersons]
/diagnostics [diagnostic_msgs/DiagnosticArray]
/spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/image/compressedDepth [sensor_msgs/CompressedImage]
/rosout [rosgraph_msgs/Log]
/spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/image/theora/parameter_updates [dynamic_reconfigure/Config]
/spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/bounding_box_centres [geometry_msgs/PoseArray]
/spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/image/theora [theora_image_transport/Packet]
/spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/image/theora/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
/spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/image/compressed [sensor_msgs/CompressedImage]

Subscriptions:

/spencer/sensors/rgbd_front_top/depth/camera_info [sensor_msgs/CameraInfo]
/spencer/sensors/rgbd_front_top/ground_plane [rwth_perception_people_msgs/GroundPlane]
/spencer/sensors/rgbd_front_top/depth/image_rect [sensor_msgs/Image]
/spencer/sensors/rgbd_front_top/rgb/image_rect_color [sensor_msgs/Image]

Services:

/spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/get_loggers
/spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/image/compressed/set_parameters
/spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/set_logger_level
/spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/image/compressedDepth/set_parameters
/spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/image/theora/set_parameters

contacting node .. Pid: 6775 Connections:

topic: /rosout
- to: /rosout
- direction: outbound
- transport: TCPROS
topic: /spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/image
- to: /tracking_visualization_rviz
- direction: outbound
- transport: TCPROS
topic: /spencer/perception_internal/detected_persons/rgbd_front_top/upper_body
- to: /spencer/perception_internal/detected_person_association/detected_person_association_nodelet_manager
- direction: outbound
- transport: TCPROS
topic: /spencer/perception_internal/detected_persons/rgbd_front_top/upper_body
- to: /tracking_visualization_rviz
- direction: outbound
- transport: TCPROS
topic: /spencer/perception_internal/detected_persons/rgbd_front_top/upper_body
- to: /rostopic_9449_1493195502422
- direction: outbound
- transport: TCPROS
topic: /spencer/sensors/rgbd_front_top/rgb/image_rect_color
- to: /spencer/sensors/rgbd_front_top/rgbd_front_top_nodelet_manager (http:// MY ROS IP /)
- direction: inbound
- transport: TCPROS
topic: /spencer/sensors/rgbd_front_top/depth/camera_info
- to: /spencer/sensors/rgbd_front_top/rgbd_front_top_nodelet_manager (http:// MY ROS IP /)
- direction: inbound
- transport: TCPROS
topic: /spencer/sensors/rgbd_front_top/ground_plane
- to: /spencer/perception_internal/people_detection/ground_plane_front_top (http:// MY ROS IP/)
- direction: inbound
- transport: TCPROS
topic: /spencer/sensors/rgbd_front_top/depth/image_rect
- to: /spencer/sensors/rgbd_front_top/rgbd_front_top_nodelet_manager (http:// MY ROS IP/)
- direction: inbound
- transport: TCPROS

I also checked "rostopic echo /spencer/perception/detected_persons" and there are also no messages. And all 4 subscribed topics of that node are working fine.

So, my question is : Is it problem in parameters of detector (or camera params in config file), so nothing is published because there is no human detection, or something else is wrong? What does detector do when there are no humans in field of view, does it stop publishing?

Thank you in advance!

tlind commented 7 years ago

Hi,

when there are no humans in the field of view, the detector will continue publishing empty DetectedPersons messages on the /spencer/perception_internal/detected_persons/rgbd_front_top/upper_body topic, which then gets fused into /spencer/perception/detected_persons. So if there are no messages being published on the former, something else must be wrong.

I don't know the Intel RealSense camera, at which resolution is it publishing depth images? I believe the upper-body detector requires the resolution to be fixed at 640x480(?). That's also why it does not work with the Kinect v2 (see issue #4).

Other than that, it could also be an issue related to TF transforms or timestamps/synchronization.

brinij commented 7 years ago

Thanks for a quick reply! Intel RealSense camera has rgb image resolution of 640x480, but depth image resolution of 480x360. Would it be possible to make it work by only changing the parameters dImWidth and dImHeight in config_Asus.inp?

tlind commented 7 years ago

I think this is not sufficient; maybe scaling the depth image could help. See the recent comments in #4.

Charles-kang commented 7 years ago

@brinij , Hi I have encountered the same problem using MS Kinect V1, have you address this issue?

jcgarciaca commented 5 years ago

@brinij I am also trying to run spencer example with a realsense camera. I set the namespace to /spencer/sensors/rgbd_front_top, but when running roslaunch spencer_people_tracking_launch tracking_single_rgbd_sensor.launch height_above_ground:=1.6 load_driver:=false it does not work. I suppose it is due to topics mismatch, below is the rostopic list command output. How should I remap the entire topics to match with those which spencer uses?

/spencer/sensors/rgbd_front_top/aligned_depth_to_color/camera_info
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/compressed
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/compressedDepth
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/theora
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/theora/parameter_updates
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/camera_info
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/compressed
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/compressedDepth
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/theora
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/theora/parameter_updates
/spencer/sensors/rgbd_front_top/color/camera_info
/spencer/sensors/rgbd_front_top/color/image_raw
/spencer/sensors/rgbd_front_top/color/image_raw/compressed
/spencer/sensors/rgbd_front_top/color/image_raw/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/color/image_raw/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/color/image_raw/compressedDepth
/spencer/sensors/rgbd_front_top/color/image_raw/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/color/image_raw/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/color/image_raw/theora
/spencer/sensors/rgbd_front_top/color/image_raw/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/color/image_raw/theora/parameter_updates
/spencer/sensors/rgbd_front_top/color/image_rect_color
/spencer/sensors/rgbd_front_top/color/image_rect_color/compressed
/spencer/sensors/rgbd_front_top/color/image_rect_color/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/color/image_rect_color/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/color/image_rect_color/compressedDepth
/spencer/sensors/rgbd_front_top/color/image_rect_color/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/color/image_rect_color/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/color/image_rect_color/theora
/spencer/sensors/rgbd_front_top/color/image_rect_color/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/color/image_rect_color/theora/parameter_updates
/spencer/sensors/rgbd_front_top/color_rectify_color/parameter_descriptions
/spencer/sensors/rgbd_front_top/color_rectify_color/parameter_updates
/spencer/sensors/rgbd_front_top/depth/camera_info
/spencer/sensors/rgbd_front_top/depth/image_rect_raw
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/compressed
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/compressedDepth
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/theora
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/theora/parameter_updates
/spencer/sensors/rgbd_front_top/depth_registered/points
/spencer/sensors/rgbd_front_top/extrinsics/depth_to_color
/spencer/sensors/rgbd_front_top/extrinsics/depth_to_infra1
/spencer/sensors/rgbd_front_top/infra1/camera_info
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/compressed
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/compressedDepth
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/theora
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/theora/parameter_updates
/spencer/sensors/rgbd_front_top/realsense2_camera_manager/bond
/spencer/sensors/rgbd_front_top/realsense2_camera_manager/parameter_descriptions
/spencer/sensors/rgbd_front_top/realsense2_camera_manager/parameter_updates

dimaw24 commented 5 years ago

I'm having the same problem. Has anyone found a solution yet?

kivrakh commented 5 years ago

The problem can be solved by changing the relevant line hardcoded in base_realsense_node.cpp

_stream_name[RS2_STREAM_COLOR] = "color";

This answer is referenced to:

http://answers.ros.org/question/306463/is-it-possible-to-remap-cameracolor-topics-in-realsense2_camera/

kivrakh commented 5 years ago

The problem can be solved by changing the relevant line hardcoded in base_realsense_node.cpp

_stream_name[RS2_STREAM_COLOR] = "color";

This answer is referenced to:

http://answers.ros.org/question/306463/is-it-possible-to-remap-cameracolor-topics-in-realsense2_camera/

Instead, you can directly use remap statement by putting just before the node description in the launch file

spencer-project / spencer_people_tracking

UpperBodyDetector not publishing anything with Intel RealSense R200 #32