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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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ROS package runs correctly but without any functionality ( Detection or tracking ..) #7

Closed Sifouu closed 7 years ago

Sifouu commented 8 years ago

Hi, i'm using Ubuntu 14.04 (64 bit), ROS indigo, and Kinect V1 1- so i did all these steps Installing Openni // Cuda 7.5 // PCL changing Openni2 ---> Openni in the launch file ...etc. 2- I compile the package correctly. 3- i got the RGB and depth data on the corresponding ROS topics and Rviz

but when i launch " roslaunch spencer_people_tracking_launch tracking_single_rgbd_sensor.launch height_above_ground:=1.6"

There is no detection or tracking

So i want to know if there are other configurations to do, or dependencies to install. and does the height of the camera above the ground influence in the detection ????

Thank you

ghost commented 8 years ago

same problem like yours to do the detection and tracking i'm using openni_tracker i really want if spencer work

tlind commented 8 years ago

A first step to pinpoint the issue would be to check the if you receive ROS messages (at least empty ones) on the corresponding DetectedPersons and TrackedPersons topics. I unfortunately cannot try this myself right now, but I think the topics should be

/spencer/perception/detected_persons
/spencer/perception/tracked_persons

and you can use rostopic echo on these topics once you have started the launch file.

If you receive no detected persons messages at all (even no empty messages), then there is an issue with the detector, and I would not worry about the tracker yet.

You can also do a rosnode list to find the name of the detector (could be something like /spencer/perception_internal/detected_persons/upper_body or so), and then do a rosnode info followed by a node name, to see if any required input topics are missing (i.e. incorrectly mapped). It could be that with openni 1, the names of some RGB and depth topics are slightly different (e.g. image instead of image_color or so).

Sifouu commented 8 years ago

Hi Timm Thanks for your response I receive an empty messages and whene i did : rosnode info /spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector . . .

Subscriptions:

can you help me again please to solve the probleme of [unknown type]

tlind commented 8 years ago

Unknown type means that these topics are not being published. Check if there are similar topics published by your RGB-D driver, which can be remapped to these in a roslaunch file. Probably your topics are in the /camera instead of /spencer/sensors namespace, though I thought that the launch file provided by us would take care of these remappings. I need to double-check once I find the time.

tlind commented 7 years ago

This should be fixed now by #20.