Object Single Camera

To run just object detection on a single camera, run the following command:

roslaunch tracking single_camera_tracking_node.launch enable_pose:=false enable_people_tracking:=false enable_object:=true

It is also possible to run with other modules activated by setting the enable flags for the modules to true. For example, the command below sets all modules to true:

roslaunch tracking single_camera_tracking_node.launch enable_pose:=true enable_people_tracking:=true enable_object:=true

Note: Depending on your graphic processor, running pose annotation with the other two modules activated may be too much for your node.

Once the command is running, a rviz window will automatically open. Rviz is used for visualizing data in OPT. See here for instructions on visualizing data in OPT. You can choose your topics and subsequently save the configuration. OPT v2 comes with a default rviz configuration: SingleCameraTracking.rviz.

To view the object detection select objectTrackingImage in the SingleCameraTracking.rviz.

You also have the option to view the image as captured by the sensor by checking the SimpleImage option in the SingleCameraTracking.rviz.