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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/
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Using upper-body detector with Kinect v1? #50

Closed tcjcxy30 closed 6 years ago

tcjcxy30 commented 6 years ago

Hello：

152 09-25-39-4339

I have read the issue https://github.com/spencer-project/spencer_people_tracking/issues/20 When I run the launch file by changing the use_openni=true in roslaunch spencer_people_tracking_launch tracking_single_rgbd_sensor.launch height_above_ground:=1.6,

it seems like it is able to run the camera but does not do neither detection nor tracking. I found no one asked the question again, so where do I set the wrong way? What is the normal operation status display?

I cannot see any detection bounding boxes, and the point cloud is displayed properly in RViz shown in figure above.

tcjcxy30 commented 6 years ago

I have fixed that problem because in the file tracking_single_rgbd_sensor.launch in line 41, 42 <remap from="/spencer/sensors/rgbd_front_top/depth/image_rect" to="/spencer/sensors/rgbd_front_top/depth_registered/image_rect" if="$(arg use_openni1)"/> <remap from="/spencer/sensors/rgbd_front_top/depth/camera_info" to="/spencer/sensors/rgbd_front_top/depth_registered/camera_info" if="$(arg use_openni1)"/>

I guess the remap not for openni1 but for openni2. So if you use the openni1, change the if to unless.