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strands-project / strands_perception_people

long-term detection, tracking and recognition of people
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Running standalone with Kinect and openni_launch #115

Closed hawesie closed 9 years ago

hawesie commented 9 years ago

I'm trying to set this up for a student with the released version of the tracker etc. The computer we have access to has an old Kinect. We are running this with openni_launch rather than openni_wrapper as the latter doesn't seem to produce output, but the former does. When I run the standalone tracker, I don't get any output on /mdl_people_tracker/image or /mdl_people_tracker/people_array.

I am using the following launch commands:

roslaunch openni_launch openni.launch
roslaunch perception_people_launch people_tracker_standalone.launch load_params_from_file:=true

Looking at the README on the launch page it looks like all the default values should work.

The rosgraph looks ok too.

rosgraph

Any idea why things aren't producing output?

hawesie commented 9 years ago

I've looked back at #89 but it seems like the issues I had with parameters have changed now.

cdondrup commented 9 years ago

The main difference between the openni_wrapper and the openni_launch is the name of the depth topic it subscribes to. This is also missing in the graph. Try to run it with depth_image:=/depth/image or depth_image:=/depth/image_rect because the default topic for the wrapper is /depth/image_rect_meters which doesn't exist within the openni_launch.

In general the topic name is made from camera_namespace which defaults to /camera in the standalone version plus depth_image. So just running 

roslaunch perception_people_launch people_tracker_standalone.launch depth_image:=/depth/image

Should work. Maybe I should mention that in the beginning of the readme somewhere instead of just in the description of the parameter.

hawesie commented 9 years ago

Awesome, that works. Sorry for the bother, but the params and namespaces looked superficially correct enough that my brain didn't kick in. So, to confirm I have a successful standalone system with released packages running just:

roslaunch openni_launch openni.launch
roslaunch perception_people_launch people_tracker_standalone.launch depth_image:=/depth/image load_params_from_file:=true

Subscribing to /mdl_people_tracker/image in rviz shows the output.