Remap upper-body detector topics correctly for tracking_single_rgbd_s…

…ensor.launch to work with OpenNi1, #20
spencer-project · Mar 18, 2017 · 40b3de8 · 40b3de8
1 parent 934a285
commit 40b3de8
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Showing 3 changed files with 37 additions and 48 deletions.
diff --git a/detection/rgbd_detectors/rwth_upper_body_detector/src/main.cpp b/detection/rgbd_detectors/rwth_upper_body_detector/src/main.cpp
@@ -355,7 +355,7 @@ int main(int argc, char **argv)
     private_node_handle_.param("camera_namespace", cam_ns, string("/camera"));
     private_node_handle_.param("ground_plane", topic_gp, string("/ground_plane"));
 
-    topic_color_image = cam_ns + "/rgb/image_raw";
+    topic_color_image = cam_ns + "/rgb/image_rect_color";
     string topic_depth_image = cam_ns + "/depth/image_rect";
     string topic_camera_info = cam_ns + "/depth/camera_info";
 

diff --git a/launch/spencer_people_tracking_launch/launch/tracking_single_rgbd_sensor.launch b/launch/spencer_people_tracking_launch/launch/tracking_single_rgbd_sensor.launch
@@ -21,11 +21,6 @@
         </include>
     </group>
 
-    <!-- Remapping required for detectors in case we are using OpenNi 1 (for MS Kinect) -->
-    <remap from="/spencer/sensors/rgbd_front_top/depth/image_rect" to="/spencer/sensors/rgbd_front_top/depth_registered/image_raw"  if="$(arg use_openni1)"/>
-    <remap from="/spencer/sensors/rgbd_front_top/depth/camera_info" to="/spencer/sensors/rgbd_front_top/depth_registered/camera_info" if="$(arg use_openni1)"/>
-    <remap from="/spencer/sensors/rgbd_front_top/rgb/image_raw" to="/spencer/sensors/rgbd_front_top/rgb/image_color" if="$(arg use_openni1)"/>
-
 
     <!-- Set ground plane distance -->
     <rosparam param="/spencer/perception_internal/people_detection/ground_plane/distance" subst_value="true">$(arg height_above_ground)</rosparam>
@@ -37,11 +32,19 @@
     </group>
 
 
-    <!-- Detectors -->        
-    <include file="$(find spencer_people_tracking_launch)/launch/detectors/front_rgbd_detectors.launch">
-        <arg name="upper_body" default="$(arg use_upper_body_detector)"/>
-        <arg name="hog" default="$(arg use_hog_detector)"/>
-    </include>
+    <!-- Detectors -->
+    <group>
+        <!-- Remap input topics of detectors from "depth" to "depth_registered" in case we are using the OpenNi 1 driver (for MS Kinect).
+             Necessary because OpenNi 1 does not publish both the registered and unregistered depth images (as OpenNi 2 does), and we want to keep depth registration enabled. -->
+        <remap from="/spencer/sensors/rgbd_front_top/depth/image_rect" to="/spencer/sensors/rgbd_front_top/depth_registered/image_rect"  if="$(arg use_openni1)"/>
+        <remap from="/spencer/sensors/rgbd_front_top/depth/camera_info" to="/spencer/sensors/rgbd_front_top/depth_registered/camera_info" if="$(arg use_openni1)"/>
+
+        <include file="$(find spencer_people_tracking_launch)/launch/detectors/front_rgbd_detectors.launch">
+            <arg name="upper_body" default="$(arg use_upper_body_detector)"/>
+            <arg name="hog" default="$(arg use_hog_detector)"/>
+        </include>
+    </group>
+
 
     <!-- People tracking -->
     <include file="$(find spencer_people_tracking_launch)/launch/tracking/freiburg_people_tracking.launch">

diff --git a/launch/spencer_people_tracking_launch/rviz/tracking-single-rgbd-sensor.rviz b/launch/spencer_people_tracking_launch/rviz/tracking-single-rgbd-sensor.rviz
@@ -5,18 +5,16 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
-        - /Grid1
+        - /Raw detections1
         - /Raw detections1/HOG1/Style1
         - /Raw detections1/HOG1/Z offset1
         - /Raw detections1/Upper-Body1/Style1
         - /Fused detections1/Style1
         - /Fused detections1/Z offset1
         - /Fused detections1/Render covariances1
         - /TrackedPersons Visually Confirmed1/Render covariances1
-        - /RGB-D camera1/Visibility1
-        - /CameraInfo1
       Splitter Ratio: 0.591954
-    Tree Height: 765
+    Tree Height: 395
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -127,7 +125,7 @@ Visualization Manager:
           Color: 255; 255; 0
           Color map offset: 0
           Color transform: Constant color
-          Enabled: true
+          Enabled: false
           Excluded person IDs: ""
           Font color: 255; 255; 255
           Font color style: Same color
@@ -150,7 +148,7 @@ Visualization Manager:
           Text spacing: 1
           Topic: /spencer/perception_internal/detected_persons/rgbd_front_top/hog
           Unreliable: false
-          Value: true
+          Value: false
           Z offset:
             Use Z position from message: false
             Value: 0
@@ -194,7 +192,19 @@ Visualization Manager:
             {}
           Queue Size: 10
           Value: false
-      Enabled: false
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: /spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/image
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Upper-Body Detection Image
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+      Enabled: true
       Name: Raw detections
     - Alpha: 1
       Class: spencer_tracking_rviz_plugin/DetectedPersons
@@ -204,7 +214,7 @@ Visualization Manager:
       Enabled: true
       Excluded person IDs: ""
       Font color: 90; 90; 90
-      Font color style: Constant color
+      Font color style: Same color
       Font scale: 1.2
       Included person IDs: ""
       Low-confidence alpha: 0.5
@@ -215,7 +225,7 @@ Visualization Manager:
         Line width: 0.05
         Value: false
       Render detection IDs: false
-      Render modality text: false
+      Render modality text: true
       Render orientation arrows: true
       Style:
         Line width: 0.007
@@ -271,34 +281,10 @@ Visualization Manager:
       Z offset:
         Use Z position from message: true
         Value: 0
-    - Class: rviz/Camera
-      Enabled: false
-      Image Rendering: background
-      Image Topic: /spencer/sensors/rgbd_front_top/rgb/image_rect_color
-      Name: RGB-D camera
-      Overlay Alpha: 1
-      Queue Size: 1
-      Transport Hint: raw
-      Unreliable: false
-      Value: false
-      Visibility:
-        CameraInfo: true
-        Fused detections: true
-        Grid: true
-        RGB-D cloud: false
-        Raw detections:
-          Composite arrows: true
-          HOG: true
-          Upper-Body: true
-          Value: true
-        TF: true
-        TrackedPersons Visually Confirmed: true
-        Value: true
-      Zoom Factor: 1
     - Class: jsk_rviz_plugin/CameraInfo
       Enabled: true
       Image Topic: /spencer/perception_internal/people_detection/rgbd_front_top/upper_body_detector/image
-      Name: CameraInfo
+      Name: View Frustum
       Topic: /spencer/sensors/rgbd_front_top/depth_registered/camera_info
       Unreliable: false
       Value: true
@@ -367,15 +353,15 @@ Window Geometry:
   Height: 1003
   Hide Left Dock: false
   Hide Right Dock: true
-  QMainWindow State: 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
-  RGB-D camera:
-    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000020c0000038cfc020000000ffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc000000410000021a000000dd00fffffffa000000050100000006fb00000018005200470042002d0044002000630061006d0065007200610000000000ffffffff0000000000000000fb0000002800460072006f006e0074002000640065007000740068002000700061006e006f00720061006d00610000000000ffffffff0000000000000000fb000000260052006500610072002000640065007000740068002000700061006e006f00720061006d0061020000051a0000002e00000266000003cbfb0000002400460072006f006e00740020005200470042002000700061006e006f00720061006d00610000000000ffffffff0000000000000000fb0000005e006b0069006e006400650072006300610072005f006f0064006f006d0065007400720079005f005f004f0064006f006d0065007400720079004700550049005f005f0031005f005f004f0064006f006d006500740072007900470055004903000001ef000001c90000057800000135fb000000100044006900730070006c00610079007301000000000000013c0000016a00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001a004b0069006e006500630074003100200043006f006c006f0072000000017d000000700000000000000000fb0000001a004b0069006e006500630074003100200044006500700074006800000001b9000000840000000000000000fb0000001a004b0069006e0065006300740030002000440065007000740068000000020d0000009d0000000000000000fb0000001c004b0069006e0065006300740020003000200043006f006c006f00720000000289000000c50000000000000000fb0000001400440053004c005200200069006d006100670065020000040f0000001f0000035c000001dcfb0000002200520065006100720020005200470042002000700061006e006f00720061006d0061020000051b0000002d00000265000003cffb0000003400550070007000650072002d0042006f0064007900200044006500740065006300740069006f006e00200049006d00610067006501000002610000016c0000001600ffffff00000001000001d30000038cfc0200000008fb0000005a007200710074005f0069006d006100670065005f0076006900650077005f005f0049006d0061006700650056006900650077005f005f0032005f005f0049006d006100670065005600690065007700570069006400670065007403000003100000011a0000018b00000148fb0000001a004b0069006e00650063007400310020004400650070007400680000000041000000ac0000000000000000fb0000001a004b0069006e00650063007400300020004400650070007400680000000041000001030000000000000000fb0000001a004b0069006e006500630074003100200043006f006c006f007200000000410000018a0000000000000000fb0000001c004b0069006e0065006300740020003000200043006f006c006f007200000000410000030d0000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc000000410000038c0000000000fffffffa000000000100000002fb0000000a0049006d0061006700650100000000ffffffff0000000000000000fb0000000a005600690065007700730000000510000001300000010f00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077e0000003bfc0100000004fb0000000800540069006d006500000000000000077e000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000fb0000004c007200710074005f0063006f006e0073006f006c0065005f005f0043006f006e0073006f006c0065005f005f0031005f005f0043006f006e0073006f006c006500570069006400670065007403000001f700000311000002890000039ffb0000005a007200710074005f0069006d006100670065005f0076006900650077005f005f0049006d0061006700650056006900650077005f005f0031005f005f0049006d006100670065005600690065007700570069006400670065007403000001e20000022e00000578000001f90000056c0000038c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
     collapsed: false
   Tool Properties:
     collapsed: false
+  Upper-Body Detection Image:
+    collapsed: false
   Views:
     collapsed: true
   Width: 1918