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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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Fixing detection remapping so detections are actually published to rviz for openni 1 #54

Closed randomcuriouscode closed 4 years ago

randomcuriouscode commented 6 years ago

The following snippet fixes the remapping for open ni 1, allowing for the rectified depth image to be caught by spencer and allowing for detections to be published/visible in rviz when launched with the use_openni1:=true flag.

<remap from="/spencer/sensors/rgbd_front_top/depth/image_rect" to="/spencer/sensors/rgbd_front_top/depth_registered/hw_registered/image_rect"  if="$(arg use_openni1)"/>

Tested with a Kinect v1 on the PrimeSense(SensorKinect) middleware on OpenNI 1.

Specifically, the command to launch was: roslaunch spencer_people_tracking_launch tracking_single_rgbd_sensor.launch height_above_ground:=1.6 use_openni1:=true

This fixes the following issue that was closed prematurely: https://github.com/spencer-project/spencer_people_tracking/issues/50

openni1_working

pei-chun commented 6 years ago

I met the same problem that only point cloud show on the rviz when run the launch file. By remapping the /spencer/sensors/rgbd_front_top/depth/image_rect to /spencer/sensors/rgbd_front_top/depth_registered/hw_registered/image_rect I finally solve the problem. Upper Body Detection image show the information and detect successfully.

Thank you very much