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yzrobot / online_learning

[ROS package] Online Learning for Human Detection in 3D Point Clouds
GNU General Public License v3.0
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questions about run "people_tracker.launch" #16

Open Zhang-Qinghui opened 4 years ago

Zhang-Qinghui commented 4 years ago

hi, thanks for your good work. When I run "people_tracker.launch", I have met the same question as https://github.com/yzrobot/online_learning/issues/6. I have changed the "detectors.yaml" as you said, but I still can not obstain tracking marks or trajectory as your video shows, just like the following picture. Do you know how to solve this problem? Thank you in advance. 2020-04-22 17-50-15屏幕截图

yzrobot commented 4 years ago

Hi, could you post your rqt_graph to better identify the problem? Also, did you try this: object3d_detector/launch/object3d_detector_ol.launch? Best

Zhang-Qinghui commented 4 years ago

Hi, could you post your rqt_graph to better identify the problem? Also, did you try this: object3d_detector/launch/object3d_detector_ol.launch? Best

Thanks for your reply. At first, I thought that running the “people_tracker.launch” file was needed for tracking. Later, when I saw that the tracking node “bayes_people_tracker” was started in the “object3d_detector.launch” file, I realized that only the “object3d_detector.launch” file was enough. When I roslaunch "object3d_detector.launch" file, I can see the human detection bounding box successfully as the first picture shows, but I can't see the tracking marks or trajectory as your video https://www.youtube.com/watch?v=bjztHV9rC-0 shows. I have subscribed the topic "/people_tracker/marker_array" and "/people_tracker/trajectory" in rviz, and the topic status is ok. when I use "rostopic echo" command to check this two topic, I find there is no message in topic. The second picture is the corresponding rqt_graph. Why does this happen? How can I get the tracking ID and trajectory？Do I miss something？In addition, I did not try the "object3d_detector_ol.launch".Looking forward to your reply.Thank you in advance. 2020-04-28 11-32-44屏幕截图 2020-04-27 17-24-58屏幕截图 2020-04-28 11-34-46屏幕截图 2020-04-28 11-34-21屏幕截图

yzrobot commented 4 years ago

Node connection looks ok... could you try to change in Rviz "Fixed Frame" to base_link or odom to see, or in case of missing tf tree, try

<node pkg="tf" type="static_transform_publisher" name="odom" args="0 0 0 0 0 0 odom base_link 100"/>
<node pkg="tf" type="static_transform_publisher" name="velodyne" args="0 0 0 0 0 0 base_link velodyne 100"/>

I think the point to understand here is under which coordinate system we do tracking.

Zhang-Qinghui commented 4 years ago

Node connection looks ok... could you try to change in Rviz "Fixed Frame" to base_link or odom to see, or in case of missing tf tree, try

<node pkg="tf" type="static_transform_publisher" name="odom" args="0 0 0 0 0 0 odom base_link 100"/>
<node pkg="tf" type="static_transform_publisher" name="velodyne" args="0 0 0 0 0 0 base_link velodyne 100"/>

I think the point to understand here is under which coordinate system we do tracking.

As the first and second picture shows, I still can't see the tracking marks or trajectory when I change in Rviz "Fixed Frame" to base_link or odom. In other words, if there is a problem with rviz settings, why hasn't any messages been posted on the topic "/people_tracker/marker_array" and "/people_tracker/trajectory"？ 2020-04-30 22-15-07屏幕截图 2020-04-30 22-16-07屏幕截图

RussellGee commented 3 years ago

hi, thanks for your good work. When I run "people_tracker.launch", I have met the same question as https://github.com/yzrobot/online_learning/issues/6. I have changed the "detectors.yaml" as you said, but I still can not obstain tracking marks or trajectory as your video shows, just like the following picture. Do you know how to solve this problem? Thank you in advance. 2020-04-22 17-50-15屏幕截图

hi Zhang-Qinghui, i have install&build the program,and change bag value as the description. but when i run the command "roslaunch object3d_detector object3d_detector.launch", the output as follow:

... logging to /home/chen/.ros/log/6455c648-f294-11ea-8ba1-409f38ea5d55/roslaunch-chen-14811.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

Traceback (most recent call last): File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/init.py", line 306, in main p.start() File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 268, in start self._start_infrastructure() File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 217, in _start_infrastructure self._load_config() File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/parent.py", line 132, in _load_config roslaunch_strs=self.roslaunch_strs, verbose=self.verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/config.py", line 451, in load_config_default loader.load(f, config, verbose=verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 749, in load self._load_launch(launch, ros_config, is_core=core, filename=filename, argv=argv, verbose=verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 721, in _load_launch self._recurse_load(ros_config, launch.childNodes, self.root_context, None, is_core, verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 657, in _recurse_load n = self._node_tag(tag, context, ros_config, default_machine, verbose=verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call return f(*args, *kwds) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 408, in _node_tag self._param_tag(t, param_ns, ros_config, force_local=True, verbose=verbose) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 95, in call return f(args, **kwds) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 257, in _param_tag vals = self.opt_attrs(tag, context, ('value', 'textfile', 'binfile', 'command')) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 202, in opt_attrs return [self.resolve_args(tag_value(tag,a), context) for a in attrs] File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/xmlloader.py", line 183, in resolve_args return substitution_args.resolve_args(args, context=context.resolve_dict, resolve_anon=self.resolve_anon) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 370, in resolve_args resolved = _resolve_args(resolved, context, resolve_anon, commands) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 383, in _resolve_args resolved = commands[command](resolved, a, args, context) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 151, in _find source_path_to_packages=source_path_to_packages) File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/substitution_args.py", line 197, in _find_executable full_path = _get_executable_path(rp.get_path(args[0]), path) File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 203, in get_path raise ResourceNotFound(name, ros_paths=self._ros_paths) ResourceNotFound: velodyne_pointcloud ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/home/chen/ssh/develop/person_detection_ziliao/robosense_SDK/git_program/ yzrobot/online_learning /catkin_ws/src ROS path [2]=/opt/next/share ROS path [3]=/opt/bzrobot_vision/share ROS path [4]=/opt/bzrobot_patrol/share ROS path [5]=/opt/ros/kinetic/share

Have you ever meet this issue, look forword your reply. Thank you in advance.