intelligentroboticslabs / gb_visual_detection_3d Goto Github PK

When run darknet_ros_3d, there is a warn message camera\depth\registered\point with qos-reliability best-effort and not message will be sent. and never it is published darket_ros_3d\markeArray topic.

How can darknet receive message with best effort ???

Thnaks
Gracias
Florencio garcia

Dear @fgonzalezr1998,

while i try compiling you package the above error occurs and i dont find any solutions for this problem. Maybe i overlook something.
Im using a turtlebot3 with a jetson nano on it. Darknet ROS ist launching without problems.

vidia@nvidia-desktop:~/catkin_ws$ catkin_make
Base path: /home/nvidia/catkin_ws
Source space: /home/nvidia/catkin_ws/src
Build space: /home/nvidia/catkin_ws/build
Devel space: /home/nvidia/catkin_ws/devel
Install space: /home/nvidia/catkin_ws/install
WARNING: Package name "object_detection_with_intel_D415" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.

Running command: "make cmake_check_build_system" in "/home/nvidia/catkin_ws/build"

-- Using CATKIN_DEVEL_PREFIX: /home/nvidia/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/nvidia/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/nvidia/catkin_ws/devel;/opt/ros/melodic
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: False
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
WARNING: Package name "object_detection_with_intel_D415" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
WARNING: Package name "object_detection_with_intel_D415" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 18 packages in topological order:
-- ~~ - realsense2_description
-- ~~ - turtlebot3 (metapackage)
-- ~~ - turtlebot3_msgs
-- ~~ - turtlebot3_simulations (metapackage)
-- ~~ - dynamixel_sdk
-- ~~ - dynamixel_sdk_examples
-- ~~ - ddynamic_reconfigure
-- ~~ - darknet_ros_msgs
-- ~~ - cv_camera
-- ~~ - darknet_ros
-- ~~ - object_detection_with_intel_D415
-- ~~ - object_msgs
-- ~~ - sort_track
-- ~~ - realsense2_camera
-- ~~ - darknet_ros_3d
-- ~~ - turtlebot3_bringup
-- ~~ - turtlebot3_fake
-- ~~ - turtlebot3_gazebo
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'realsense2_description'
-- ==> add_subdirectory(realsense-ros/realsense2_description)
-- +++ processing catkin metapackage: 'turtlebot3'
-- ==> add_subdirectory(turtlebot3/turtlebot3)
-- +++ processing catkin package: 'turtlebot3_msgs'
-- ==> add_subdirectory(turtlebot3_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- turtlebot3_msgs: 3 messages, 0 services
-- +++ processing catkin metapackage: 'turtlebot3_simulations'
-- ==> add_subdirectory(turtlebot3_simulations/turtlebot3_simulations)
-- +++ processing catkin package: 'dynamixel_sdk'
-- ==> add_subdirectory(DynamixelSDK/ros/dynamixel_sdk)
-- +++ processing catkin package: 'dynamixel_sdk_examples'
-- ==> add_subdirectory(DynamixelSDK/ros/dynamixel_sdk_examples)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- dynamixel_sdk_examples: 3 messages, 3 services
-- +++ processing catkin package: 'ddynamic_reconfigure'
-- ==> add_subdirectory(ddynamic_reconfigure)
-- +++ processing catkin package: 'darknet_ros_msgs'
-- ==> add_subdirectory(darknet_ros/darknet_ros_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Generating .msg files for action darknet_ros_msgs/CheckForObjects /home/nvidia/catkin_ws/src/darknet_ros/darknet_ros_msgs/action/CheckForObjects.action
-- darknet_ros_msgs: 10 messages, 0 services
-- +++ processing catkin package: 'cv_camera'
-- ==> add_subdirectory(cv_camera)
-- Boost version: 1.65.1
-- Found the following Boost libraries:
-- system
-- thread
-- chrono
-- date_time
-- atomic
-- +++ processing catkin package: 'darknet_ros'
-- ==> add_subdirectory(darknet_ros/darknet_ros)
-- Darknet path dir = /home/nvidia/catkin_ws/src/darknet_ros/darknet
-- CUDA Version:
-- CUDA Libararies: /usr/local/cuda/lib64/libcudart_static.a;-lpthread;dl;/usr/lib/aarch64-linux-gnu/librt.so
-- Searching for X11...
-- X11_INCLUDE_DIR: /usr/include
-- X11_LIBRARIES: /usr/lib/aarch64-linux-gnu/libSM.so/usr/lib/aarch64-linux-gnu/libICE.so/usr/lib/aarch64-linux-gnu/libX11.so/usr/lib/aarch64-linux-gnu/libXext.so
-- Boost version: 1.65.1
-- Found the following Boost libraries:
-- thread
-- chrono
-- system
-- date_time
-- atomic
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Checking and downloading yolov2-tiny.weights if needed ...
-- Checking and downloading yolov3.weights if needed ...
-- +++ processing catkin package: 'object_detection_with_intel_D415'
-- ==> add_subdirectory(object_detection_and_3d_pose_estimation/object_detection_with_intel_D415)
WARNING: Package name "object_detection_with_intel_D415" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
-- +++ processing catkin package: 'object_msgs'
-- ==> add_subdirectory(object_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- object_msgs: 4 messages, 2 services
-- +++ processing catkin package: 'sort_track'
-- ==> add_subdirectory(sort-deepsort-yolov3-ROS/sort_track)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- sort_track: 1 messages, 0 services
-- +++ processing catkin package: 'realsense2_camera'
-- ==> add_subdirectory(realsense-ros/realsense2_camera)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Create Debug Build.
-- realsense2_camera: 2 messages, 0 services
-- +++ processing catkin package: 'darknet_ros_3d'
-- ==> add_subdirectory(gb_visual_detection_3d-melodic/darknet_ros_3d)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'turtlebot3_bringup'
-- ==> add_subdirectory(turtlebot3/turtlebot3_bringup)
-- +++ processing catkin package: 'turtlebot3_fake'
-- ==> add_subdirectory(turtlebot3_simulations/turtlebot3_fake)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'turtlebot3_gazebo'
-- ==> add_subdirectory(turtlebot3_simulations/turtlebot3_gazebo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Boost version: 1.65.1
-- Found the following Boost libraries:
-- thread
-- signals
-- system
-- filesystem
-- program_options
-- regex
-- iostreams
-- date_time
-- chrono
-- atomic
-- Found Protobuf: /usr/lib/aarch64-linux-gnu/libprotobuf.so;-lpthread (found version "3.0.0")
-- Boost version: 1.65.1
-- Looking for OGRE...
-- Found Ogre Ghadamon (1.9.0)
-- Found OGRE: optimized;/usr/lib/aarch64-linux-gnu/libOgreMain.so;debug;/usr/lib/aarch64-linux-gnu/libOgreMain.so
-- Looking for OGRE_Paging...
-- Found OGRE_Paging: optimized;/usr/lib/aarch64-linux-gnu/libOgrePaging.so;debug;/usr/lib/aarch64-linux-gnu/libOgrePaging.so
-- Looking for OGRE_Terrain...
-- Found OGRE_Terrain: optimized;/usr/lib/aarch64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/aarch64-linux-gnu/libOgreTerrain.so
-- Looking for OGRE_Property...
-- Found OGRE_Property: optimized;/usr/lib/aarch64-linux-gnu/libOgreProperty.so;debug;/usr/lib/aarch64-linux-gnu/libOgreProperty.so
-- Looking for OGRE_RTShaderSystem...
-- Found OGRE_RTShaderSystem: optimized;/usr/lib/aarch64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/aarch64-linux-gnu/libOgreRTShaderSystem.so
-- Looking for OGRE_Volume...
-- Found OGRE_Volume: optimized;/usr/lib/aarch64-linux-gnu/libOgreVolume.so;debug;/usr/lib/aarch64-linux-gnu/libOgreVolume.so
-- Looking for OGRE_Overlay...
-- Found OGRE_Overlay: optimized;/usr/lib/aarch64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/aarch64-linux-gnu/libOgreOverlay.so
-- Found Protobuf: /usr/lib/aarch64-linux-gnu/libprotobuf.so;-lpthread;-lpthread (found suitable version "3.0.0", minimum required is "2.3.0")
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
-- Found libzmq , version 4.2.5
-- Checking for module 'uuid'
-- Found uuid, version 2.31.1
-- Checking for module 'tinyxml2'
-- Found tinyxml2, version 6.0.0
-- Looking for dlfcn.h - found
-- Looking for libdl - found
-- FreeImage.pc not found, we will search for FreeImage_INCLUDE_DIRS and FreeImage_LIBRARIES
-- Checking for module 'gts'
-- Found gts, version 0.7.6
-- Checking for module 'libswscale'
-- Found libswscale, version 4.8.100
-- Checking for module 'libavdevice >= 56.4.100'
-- Found libavdevice , version 57.10.100
-- Checking for module 'libavformat'
-- Found libavformat, version 57.83.100
-- Checking for module 'libavcodec'
-- Found libavcodec, version 57.107.100
-- Checking for module 'libavutil'
-- Found libavutil, version 55.78.100
-- Checking for module 'jsoncpp'
-- Found jsoncpp, version 1.7.4
-- Checking for module 'yaml-0.1'
-- Found yaml-0.1, version 0.1.7
-- Checking for module 'libzip'
-- Found libzip, version 1.1.2
-- Configuring done
-- Generating done
-- Build files have been written to: /home/nvidia/catkin_ws/build

Running command: "make -j4 -l4" in "/home/nvidia/catkin_ws/build"

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c++: internal compiler error: Segmentation fault (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See file:///usr/share/doc/gcc-7/README.Bugs for instructions.
gb_visual_detection_3d-melodic/darknet_ros_3d/CMakeFiles/darknet_ros_3d.dir/build.make:62: recipe for target 'gb_visual_detection_3d-melodic/darknet_ros_3d/CMakeFiles/darknet_ros_3d.dir/src/darknet_ros_3d/Darknet3D.cpp.o' failed
make[2]: *** [gb_visual_detection_3d-melodic/darknet_ros_3d/CMakeFiles/darknet_ros_3d.dir/src/darknet_ros_3d/Darknet3D.cpp.o] Error 4
CMakeFiles/Makefile2:7157: recipe for target 'gb_visual_detection_3d-melodic/darknet_ros_3d/CMakeFiles/darknet_ros_3d.dir/all' failed
make[1]: *** [gb_visual_detection_3d-melodic/darknet_ros_3d/CMakeFiles/darknet_ros_3d.dir/all] Error 2
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

if i try catkin_make -1 the same error occurs.

i hope you can help me with this issue
best regards

Hi developer,

Thanks for your amazing work.
I was trying to crop the pointcloud2 published by realsense d435i in terms of the boundingbox_3d, so I changed the working_frame in darknet_3d.yaml from camera_link to the camera_depth_optical_frame. But after that, I noticed that the boundingbox_markers in RVIZ are not precise as before. The boxes became larger than that with working_frame of camera_link.

Any clues? Thank you in advance!

Hello. I'm very interested the darknet ros 3d package.
I have a question about the package.
I place depth camera on turtlebot3. And tutlebot3 navigate room .
And I want to get map-based X, Y, Z coordinates of darknet ros detected object using the your packages.
Do I just modify the value of working_frame: in the darknet_3d.yaml file as below?
working_frame:/camera_link -> working_frame:/map .

If you answer me, very thanks you.

Nice work

i work on ubuntu18.04+ros moledic

where should i put gb_visual_detection_3d_msgs.

i put the msg in src/gb_visual_detection_3d/darknet_ros_3d/msg
catkin_make error

Could not find a package configuration file provided by
  "gb_visual_detection_3d_msgs" with any of the following names:

    gb_visual_detection_3d_msgsConfig.cmake
    gb_visual_detection_3d_msgs-config.cmake

  Add the installation prefix of "gb_visual_detection_3d_msgs" to
  CMAKE_PREFIX_PATH or set "gb_visual_detection_3d_msgs_DIR" to a directory
  containing one of the above files.  If "gb_visual_detection_3d_msgs"

While trying to run this package in ros-melodic I face this error "terminate called after throwing an instance of 'std::runtime_error'
what(): Time is out of dual 32-bit range" and darknet 3d process dies but am able to see 2d detections. I am using a kinect camera attached to a mobile robot in gazebo. What could be the reason for this error?

I look forward to your response!
Prakadeeswaran M

Hi @fgonzalezr1998

I managed to run the system successfully with RealSense D435i and it works perfectly way better than expected. Now I'm looking for adding 3D bounding boxes tracking not only detection, to achieve more robustness. Is that doable?

I'm willing to contribute to implementing this feature for your pkg if it doesn't have yet.

Thanks!

It is necessary to include the camera rgb color image topic like a parameter in darknet_ros_3d launch file. This parameters has to be visible in the darknet_ros_3d node and darknet_ros nodes

Hi there,

I am using this package and getting 3d coordinates in the following form:
xmin: 0.4506256580352783
ymin: -0.3164764642715454
xmax: 0.7936256527900696
ymax: 0.11368180811405182
zmin: -0.25958430767059326
zmax: 0.10506562888622284

I need to ask that can I save those coordinates so that I can call them in a python file?

Thanks for the help.

Can I use this package (3d) without darknet_ros (2d) ?

It is necessary to update README to improve the nodes documentation following the ROS standards

I want use darknet_3d in gazebo.
I changed darknet_3d.yaml file.

When I launched file, I got a below error code.. and doesn't show darknet_3d.

Do you happen to know fix it?
I used darknet_ros_3d.launch.

Below is my node

I want to use this repo in project, however our project has other packages that use "depth/points" topic so I can't convert my camera launch files. Why is it important to use "depth_registered/points" topic? Is there something I can do with your code to make it possible?

Thanks in advance.

Hello,

I have cloned the melodic branch of the darknet_ros_3d to my aws_robomaker environment. I ran colcon build and the build was successful. When I run the darknet_ros_3d.launch I am facing this error.

ERROR: cannot launch node of type [darknet_ros_3d/darknet3d_node]: Cannot locate node of type [darknet3d_node] in package [darknet_ros_3d]. Make sure file exists in package path and permission is set to executable (chmod +x)

I have tried the following approaches

I sourced my workspace with "source install/local_setup.sh" after colcon build. Apart from the darknet_ros_3d.launch, all other nodes are able to be launched. II also tried to run the node separately, but it seems like the executable cannot be found.
I got this error

[rosrun]` Couldn't find executable named darknet3d_node below /home/ubuntu/environment/aws_robomaker_hotbot/robot_ws/install/darknet_ros_3d/share/darknet_ros_3d

So, I thought the error must be with the CMakeLists.txt. But everything seems to be fine

cmake_minimum_required(VERSION` 2.8.3)

project(darknet_ros_3d)

set(CMAKE_BUILD_TYPE RelWithDebInfo)

add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
darknet_ros_msgs
gb_visual_detection_3d_msgs
sensor_msgs
tf2_ros
tf2_geometry_msgs
pcl_ros
pcl_conversions
roslint
)

catkin_package(
CATKIN_DEPENDS ${PACKAGE_DEPENDENCIES}
DEPENDS PCL
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
)

include_directories(
include
${catkin_INCLUDE_DIRS}
)

add_library(${PROJECT_NAME}
src/darknet_ros_3d/Darknet3D.cpp
src/darknet_ros_3d/Darknet3DListener.cpp
src/darknet3d_node.cpp
)

target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})

add_executable(darknet3d_node src/darknet3d_node.cpp)
target_link_libraries(darknet3d_node ${catkin_LIBRARIES} ${PROJECT_NAME})

add_executable(darknet3d_listener_node test/darknet3d_listener_node.cpp)
target_link_libraries(darknet3d_listener_node ${catkin_LIBRARIES} ${PROJECT_NAME})

roslint_cpp(
src/darknet_ros_3d/Darknet3D.cpp include/darknet_ros_3d/Darknet3D.h
src/darknet_ros_3d/Darknet3DListener.cpp include/darknet_ros_3d/Darknet3DListener.h
src/darknet3d_node.cpp
)

install(TARGETS ${PROJECT_NAME}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)

install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})

install(DIRECTORY config launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

Can anyone help me out, as to why the executable is not found and why the build is not done properly?

Hello.
Thank you for sharing the great project.

There are a few problems.

First, I installed all the necessary elements in advance.
Darknet_ros also works normally.

I use a model that I learned personally.
This includes hammer pliers, etc.

my specification

Ubuntu 18.04 LTS
YOLO v3
Intel D435
Ross Melodic
That's it.

First

roscore

Run

roslaunch realense2_camera rs_camera.launch filters:=pointcloud

on it.

rosrun rviz rviz

It's been launched.

After this

roslaunch darknet_ros_3d darknet_ros_3d.launch

when

Waiting for image. It appears consecutively.
What should I do?
Please give me some advice.

Attached are the parameters and the rostopic list.

PARAMETERS

• /actions/camera_reading/name: /darknet_ros/check...
• /darknet_3d/darknet_ros_topic: /darknet_ros/bounce...
• /darknet_3d/interpreted_classes: ['player', 'hammer...
• /darknet_3d/minimum_probability: 0.3
• /darknet_3d/minimum_detection_themeshold: 0.3
• /darknet_3d/output_bbbx3d_topic: /darknet_ros_3d/b...
• /darknet_3d/point_cloud_topic: /camera/dept_reg...
• /darknet_3d/working_frame: camera_link
• /darknet_ros/config_path: /home/gilen/catk...
• /darknet_ros/subscribers/camera_reading/topic: /camera/rgb/image...
• /darknet_ros/weights_path: /home/gilen/catk...
• /darknet_ros/yolo_model/config_file/name: p.cfg
• /darknet_ros/yolo_model/detection_classes/names: ['hammer', 'plier...
• /darknet_ros/yolo_model/threshold/value: 0.3
• /darknet_ros/yolo_model/weight_file/name: p_final.weights
• /image_view/enable_console_output: True
• /image_view/enable_opencv: True
• /image_view/wait_key_delay: 1
• /publishers/bounding_boxes/latch: False
• /publisher/bounding_boxes/queue_size: 1
• /publishers/bounding_boxes/topic: /darknet_ros/bounce...
• /publics/detection_image/latch: True
• /publics/detection_image/queue_size: 1
• /publics/detection_image/topic: /darknet_ros/detet...
• /publics/object_detector/latch: False
• /publics/object_detector/queue_size: 1
• /publishers/object_detector/topic: /darknet_ros/foun...
• /rosdistro: melodic
• /rosversion: 1.14.3

rostopic list
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressed/parameter_descriptions
/camera/color/image_raw/compressed/parameter_updates
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/compressedDepth/parameter_descriptions
/camera/color/image_raw/compressedDepth/parameter_updates
/camera/color/image_raw/theora
/camera/color/image_raw/theora/parameter_descriptions
/camera/color/image_raw/theora/parameter_updates
/camera/depth/camera_info
/camera/depth/color/points
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/depth_registered/points
/camera/extrinsics/depth_to_color
/camera/extrinsics/depth_to_infra1
/camera/extrinsics/depth_to_infra2
/camera/infra1/camera_info
/camera/infra1/image_rect_raw
/camera/infra1/image_rect_raw/compressed
/camera/infra1/image_rect_raw/compressed/parameter_descriptions
/camera/infra1/image_rect_raw/compressed/parameter_updates
/camera/infra1/image_rect_raw/compressedDepth
/camera/infra1/image_rect_raw/compressedDepth/parameter_descriptions
/camera/infra1/image_rect_raw/compressedDepth/parameter_updates
/camera/infra1/image_rect_raw/theora
/camera/infra1/image_rect_raw/theora/parameter_descriptions
/camera/infra1/image_rect_raw/theora/parameter_updates
/camera/infra2/camera_info
/camera/infra2/image_rect_raw
/camera/infra2/image_rect_raw/compressed
/camera/infra2/image_rect_raw/compressed/parameter_descriptions
/camera/infra2/image_rect_raw/compressed/parameter_updates
/camera/infra2/image_rect_raw/compressedDepth
/camera/infra2/image_rect_raw/compressedDepth/parameter_descriptions
/camera/infra2/image_rect_raw/compressedDepth/parameter_updates
/camera/infra2/image_rect_raw/theora
/camera/infra2/image_rect_raw/theora/parameter_descriptions
/camera/infra2/image_rect_raw/theora/parameter_updates
/camera/pointcloud/parameter_descriptions
/camera/pointcloud/parameter_updates
/camera/realsense2_camera_manager/bond
/camera/rgb/image_raw
/camera/rgb_camera/auto_exposure_roi/parameter_descriptions
/camera/rgb_camera/auto_exposure_roi/parameter_updates
/camera/rgb_camera/parameter_descriptions
/camera/rgb_camera/parameter_updates
/camera/stereo_module/auto_exposure_roi/parameter_descriptions
/camera/stereo_module/auto_exposure_roi/parameter_updates
/camera/stereo_module/parameter_descriptions
/camera/stereo_module/parameter_updates
/clicked_point
/darknet_ros/bounding_boxes
/darknet_ros/check_for_objects/cancel
/darknet_ros/check_for_objects/feedback
/darknet_ros/check_for_objects/goal
/darknet_ros/check_for_objects/result
/darknet_ros/check_for_objects/status
/darknet_ros/detection_image
/darknet_ros/found_object
/darknet_ros_3d/bounding_boxes
/darknet_ros_3d/markers
/diagnostics
/initialpose
/move_base_simple/goal
/rosout
/rosout_agg
/tf
/tf_static

We have to add a new configuration parameter to be able to control the frequency that ROS nodes will work

Hello, interesting repository. Unfortunately I do not get any output. The 2D boxes are displayed, but nothing is published on /darknet_ros_3d/bounding_boxes. The classes in interested_classes also exist on the image. Does the point cloud have to use a special coordinate system? This was hinted at in issue #10 if I understood that correctly. I use an Azure Kinect, i.e. the positive x-axis points to the right, the positive y-axis points down and the positive z-axis points forward. Does the camera have to be aligned so that the z-axis is parallel to the ground or are oblique bounding boxes also possible? How exactly is the 3D box calculated from the 2D box and the depth data?

Thanks in advance.

Due to the latest changes, it would be necessary to improve the package documentation located in README.md, and also apply some changes.

My progress : object detected by darknet ros is bounded by a yellow box
ROS noetic

Question :

1. Is it possible to visualize tf of the object relative to camera? I want it to be like this video : https://www.youtube.com/watch?v=iJWHRW7sZW8
2. Is it possible to send the tf to robotic arm as moveit pose?

We have to remove one parameter from darknet_3d.yaml and update README because of that

I got a problem when i run colcon build
System: Ubuntu 18
~/dev_ws$ colcon build --symlink-install
Starting >>> darknet_ros_msgs
Starting >>> gb_visual_detection_3d_msgs
Finished <<< gb_visual_detection_3d_msgs [0.40s]
Finished <<< darknet_ros_msgs [0.45s]
Starting >>> darknet_ros
Starting >>> darknet_ros_3d

--- stderr: darknet_ros_3d
/home/jiale/dev_ws/src/gb_visual_detection_3d/darknet_ros_3d/src/darknet_ros_3d/Darknet3D.cpp: In member function ‘void darknet_ros_3d::Darknet3D::update()’:
/home/jiale/dev_ws/src/gb_visual_detection_3d/darknet_ros_3d/src/darknet_ros_3d/Darknet3D.cpp:216:61: error: no matching function for call to ‘tf2_ros::Buffer::lookupTransform(std::_cxx11::string&, std_msgs::msg::Header<std::allocator >::frame_id_type&, std_msgs::msg::Header<std::allocator >::stamp_type&, tf2::Duration)’
point_cloud.header.stamp, tf2::durationFromSec(2.0));

Can I use two Intel Realsense cameras with this package?

Hi there,
Is it possible to transfer the 3d coordinates from this package to control the robotic arm for pick and place purpose?

Anybody please guide me @fgonzalezr1998.

Thanks for the help.

Anyone know why this happened and how to solve it?

Hi there,

Can anybody please guide me that can I use this package with ROS (kinetic) or is it necessary to install and run this package with ROS 2?

Thanks for the help.

Hi there,

I am using yolo darknet and I want to use gb_visial_detection_3d for a robotic arm. I am using ros1 - noetic does it provides support to that?

Thanks and Regards,
Ranjit

The 3d coordinates of the detected objects are publishing continously. Is there any way to include a wait time through which there would be few seconds or milli seconds delay in publishing the next 3d coordinates after every previously published ccordinates?

Thanks.

https://github.com/IntelligentRoboticsLabs/gb_visual_detection_3d/blob/melodic/darknet_ros_3d/src/darknet_ros_3d/Darknet3D.cpp#L168 It's better to use a rosparam threshold instead hardcoded value of 2 seconds.

I'm happy to make a PR if this is a welcome enhancement.

I got the center point (2D) of the bbox detected in Yolo. And I got a 3D point for this 2D point. So, I'm going to use this as a topic message.

I'm running it using roslaunch darknet_rod_3d darknet_ros_3d.launch.

I used this darknet_ros_3d while working on my project and there is a problem.

I made the 3D points output to the console window inside the code.

However, even if it is detected by Yolo, the 3D Point is not output.

So, I checked whether the topic is being output normally from rqt to the Topic Monitor, but it was not being output.

When I checked the checkbox of /darknet_ros_3d/bounding_boxes in Topic Monitor, 3D point was output normally.

What problem is this caused by..?

The picture above is unchecked and the picture below is checked.

Hi all,

I have trained my own YOLOv4 Model and would like to get a 3D bounding box on all my detected objects.

Im trying this ROS package out, hoping to get bounding boxes.

However, I was not able to get any.

Im pretty sure the node was subscribing to my camera.
The publishing topics were all created but no mesages were published to them.
(I get a ERROR: Cannot load message class for [darknet_ros_msgs/BoundingBoxes]. Are your messages built?)

Any guidance will be greatly appreciated.

Hello, Thanks for your wonderful work. I was just wondering if you have any rosbags (compatible with ros-melodic) available for test ? It would be great if you can share 1/2 sample rosbag files with necessary topics to test this repo. I can reproduce your work but I don't have any realsense camera right now to test. I think the rgb image topic and pointcloud topic are the ones mainly needed for this work to test.

Thanks in advance.

Hi, thank you for this great project
i just want to ask you is there any way or any other repository to do the same thing in reverse, I mean get 3d bounding box in point clouds (do it manually or by NN) then convert 2d box in the sequence of RGB frames?
thanks

Hi there,

Can somebody please guide me that how can we limit the number of detection after running the launch file? As the output is providing repeated and continuous values.

Thanks.

https://github.com/IntelligentRoboticsLabs/gb_visual_detection_3d/blob/melodic/darknet_ros_3d/src/darknet_ros_3d/Darknet3D.cpp#L64 causes out of time range exceptions when using sim_time (Supposedly due to underflow)

using ros::Time(0) to initialize this parameter should be better approach. I'm happy to submit a PR if this is the correct way to resolve this.

Hello,

I want to let detecting a single image(point cloud) be a part of my program, so could you help me how to input a image to the detect program and include it.

Just like:

detect_image(image)
{
  detect(image)
  return BoundingBoxes3d.msg
}
main()
{
  image = capture_image_from_RGBD_camera()
  detect_image(image)
}

I think It would be better if all publisher topics begin by "darknet_ros 3d/". Topic, where MarkerArray information is published, doesn't follow this way.

ERROR: Cannot load message class for [gb_visual_detection_3d_msgs/BoundingBoxes3d]. Are your messages built?

My guess is there's no object detected so it shows error, but later it shows error even when there is object detected. Anyone has a clue?

Hi,
Is it possible to display the 3D bounding box values in video directly? Since this packages in connection with darknet_ros and darknet libraries, we have multiple layers here. I want to include the 3D values of bounding box in output video.
Any idea to approach ?
thanks.

I was implementing darknet ros and I got this error. What am I doing wrong?

SUMMARY

PARAMETERS

/darknet_ros/actions: None
/darknet_ros/bounding_boxes: None
/darknet_ros/camera_reading: None
/darknet_ros/config_file: None
/darknet_ros/config_path: /home/mk42/catkin...
/darknet_ros/detection_classes: None
/darknet_ros/detection_image: None
/darknet_ros/enable_console_output: True
/darknet_ros/enable_opencv: True
/darknet_ros/image_view: None
/darknet_ros/latch: True
/darknet_ros/name: yolov3.weights
/darknet_ros/names: ['person', 'bicyc...
/darknet_ros/object_detector: None
/darknet_ros/publishers: None
/darknet_ros/queue_size: 1
/darknet_ros/subscribers: None
/darknet_ros/threshold: None
/darknet_ros/topic: /darknet_ros/dete...
/darknet_ros/use_darknet: True
/darknet_ros/value: 0.3
/darknet_ros/wait_key_delay: 1
/darknet_ros/weight_file: None
/darknet_ros/weights_path: /home/mk42/catkin...
/darknet_ros/yolo_model: None
/rosdistro: kinetic
/rosversion: 1.12.14

NODES
/
darknet_ros (darknet_ros/darknet_ros)

ROS_MASTER_URI=http://localhost:11311

load_parameters: unable to set parameters (last param was [/darknet_ros/threshold=None]): cannot marshal None unless allow_none is enabled
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 279, in start
self.runner.launch()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/launch.py", line 657, in launch
self._setup()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/launch.py", line 644, in _setup
self._load_parameters()
File "/opt/ros/kinetic/lib/python2.7/dist-packages/roslaunch/launch.py", line 338, in _load_parameters
r = param_server_multi()
File "/usr/lib/python2.7/xmlrpclib.py", line 1006, in call
return MultiCallIterator(self.__server.system.multicall(marshalled_list))
File "/usr/lib/python2.7/xmlrpclib.py", line 1243, in call
return self.__send(self.__name, args)
File "/usr/lib/python2.7/xmlrpclib.py", line 1596, in __request
allow_none=self.__allow_none)
File "/usr/lib/python2.7/xmlrpclib.py", line 1094, in dumps
data = m.dumps(params)
File "/usr/lib/python2.7/xmlrpclib.py", line 638, in dumps
dump(v, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 660, in __dump
f(self, value, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 719, in dump_array
dump(v, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 660, in __dump
f(self, value, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 741, in dump_struct
dump(v, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 660, in __dump
f(self, value, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 719, in dump_array
dump(v, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 660, in __dump
f(self, value, write)
File "/usr/lib/python2.7/xmlrpclib.py", line 664, in dump_nil
raise TypeError, "cannot marshal None unless allow_none is enabled"
TypeError: cannot marshal None unless allow_none is enabled

I am using RealSense d435. So I changed code of the "darknet_3d.yaml" file as follows.

darknet_ros_topic: /darknet_ros/bounding_boxes
output_bbx3d_topic: /darknet_ros_3d/bounding_boxes
point_cloud_topic: /camera/depth/color/points
working_frame: camera_link
mininum_detection_thereshold: 0.3
interested_classes: ["person", "chair"]

Here is launch file.

<launch>

  <!-- Config camera image topic  -->
  <arg name="camera_rgb_topic" default="/camera/color/image_raw" />

  <!-- Console launch prefix -->
  <arg name="launch_prefix" default=""/>

  <!-- Config and weights folder. -->
  <arg name="yolo_weights_path"          default="$(find darknet_ros)/yolo_network_config/weights"/>
  <arg name="yolo_config_path"           default="$(find darknet_ros)/yolo_network_config/cfg"/>

  <!-- ROS and network parameter files -->
  <arg name="ros_param_file"             default="$(find darknet_ros)/config/ros.yaml"/>
  <arg name="network_param_file"         default="$(find darknet_ros)/config/yolov2.yaml"/>

  <!-- Load parameters -->
  <rosparam command="load" ns="darknet_ros" file="$(arg network_param_file)"/>
  <rosparam command="load" file="$(find darknet_ros)/config/ros.yaml"/>
  <param name="darknet_ros/subscribers/camera_reading/topic" type="string" value="$(arg camera_rgb_topic)" />

  <!-- Start darknet and ros wrapper -->
  <node pkg="darknet_ros" type="darknet_ros" name="darknet_ros" output="screen" launch-prefix="$(arg launch_prefix)">

    <param name="weights_path"          value="$(arg yolo_weights_path)" />
    <param name="config_path"           value="$(arg yolo_config_path)" />
  </node>

  <!-- Start darknet ros 3d -->
  <node pkg="darknet_ros_3d" type="darknet3d_node" name="darknet_3d" output="screen">
    <rosparam command="load" file="$(find darknet_ros_3d)/config/darknet_3d.yaml" />
  </node>
</launch>

This is the node graph(Nodes/Topics (all)).

darknet works fine, but the /darknet_ros_3d/bounding_boxes topic does not have any information.

How can I solve this problem?

Hello, I am obtaining following error i have ros-dashing ubuntu18.04 in Roscube-X. I have installed ros-dashing-tf2-ros.
/home/robolab/ros2_ws/gb_visual_detection_3d/darknet_ros_3d/src/darknet_ros_3d/Darknet3D.cpp:216:61: error: no matching function for call to ‘tf2_ros::Buffer::lookupTransform(std::cxx11::string&, std_msgs::msg::Header<std::allocator >::frame_id_type&, std_msgs::msg::Header<std::allocator >::stamp_type&, tf2::Duration)’
point_cloud.header.stamp, tf2::durationFromSec(2.0));
^
In file included from /home/robolab/ros2_ws/gb_visual_detection_3d/darknet_ros_3d/include/darknet_ros_3d/Darknet3D.hpp:22:0,
from /home/robolab/ros2_ws/gb_visual_detection_3d/darknet_ros_3d/src/darknet_ros_3d/Darknet3D.cpp:18:
/opt/ros/dashing/include/tf2_ros/buffer.h:79:5: note: candidate: virtual geometry_msgs::msg::TransformStamped tf2_ros::Buffer::lookupTransform(const string&, const string&, const TimePoint&, tf2::Duration) const
lookupTransform(const std::string& target_frame, const std::string& source_frame,
^~~~~~~~~~~~~~~
/opt/ros/dashing/include/tf2_ros/buffer.h:79:5: note: no known conversion for argument 3 from ‘std_msgs::msg::Header<std::allocator >::stamp_type {aka builtin_interfaces::msg::Time<std::allocator >}’ to ‘const TimePoint& {aka const std::chrono::time_point<std::chrono::_V2::system_clock, std::chrono::duration<long int, std::ratio<1, 1000000000> > >&}’
/opt/ros/dashing/include/tf2_ros/buffer.h:96:5: note: candidate: virtual geometry_msgs::msg::TransformStamped tf2_ros::Buffer::lookupTransform(const string&, const TimePoint&, const string&, const TimePoint&, const string&, tf2::Duration) const
lookupTransform(const std::string& target_frame, const tf2::TimePoint& target_time,
^~~~~~~~~~~~~~~
/opt/ros/dashing/include/tf2_ros/buffer.h:96:5: note: candidate expects 6 arguments, 4 provided
In file included from /opt/ros/dashing/include/tf2_ros/buffer_interface.h:37:0,
from /opt/ros/dashing/include/tf2_ros/buffer.h:35,
from /home/robolab/ros2_ws/gb_visual_detection_3d/darknet_ros_3d/include/darknet_ros_3d/Darknet3D.hpp:22,
from /home/robolab/ros2_ws/gb_visual_detection_3d/darknet_ros_3d/src/darknet_ros_3d/Darknet3D.cpp:18:
/opt/ros/dashing/include/tf2/buffer_core.h:152:5: note: candidate: geometry_msgs::msg::TransformStamped tf2::BufferCore::lookupTransform(const string&, const TimePoint&, const string&, const TimePoint&, const string&) const
lookupTransform(const std::string& target_frame, const TimePoint& target_time,
^~~~~~~~~~~~~~~
/opt/ros/dashing/include/tf2/buffer_core.h:152:5: note: candidate expects 5 arguments, 4 provided
/opt/ros/dashing/include/tf2/buffer_core.h:135:5: note: candidate: geometry_msgs::msg::TransformStamped tf2::BufferCore::lookupTransform(const string&, const string&, const TimePoint&) const
lookupTransform(const std::string& target_frame, const std::string& source_frame,
^~~~~~~~~~~~~~~
/opt/ros/dashing/include/tf2/buffer_core.h:135:5: note: candidate expects 3 arguments, 4 provided
make[2]: *** [CMakeFiles/darknet_ros_3d.dir/src/darknet_ros_3d/Darknet3D.cpp.o] Error 1
make[1]: *** [CMakeFiles/darknet_ros_3d.dir/all] Error 2
make: *** [all] Error 2
Failed <<< darknet_ros_3d [22.0s, exited with code 2]

There is a bug: minimum threshold is used like minimum object probability. It should not be like that

Machine: JetsonTX2
Linux version: Ubuntu 18.04
Ros distro: melodic
I wasn't able to increase point cloud point size which is 57600 (I think this is point cloud point size, please correct if it is not)

We have to implement a "flood algorithm" to calculate coordinates to not depend on frame used axis.

Hi.

I'm using the ros melodic version.

The camera is using RealSense L515.

2D coordinates were obtained through darknet_ros . And I want to get the 3D coordinates.

I received a recommendation to use this package, but the build does not work because of the ros2 version.

Is there a code for the ros melodic version?

my linux version is 16.04 kinect and there's

when pcl_index over 1000000 think there's some Problem

also i did

if(cloud_pcl->size() < pcl_index)
  continue;

but it doesn't work

Hi.

I think I've finished installing and running the darknet_3d package.

The darknet_ros_3d package outputs a 3D box.

As shown above, boundingBox3d message provides xmax, xmin, ymax, ymin, zmax, zmin .

But I only need the 3d coordinates of the center point of the 2D bbox detected by ros-darknet.

How can I get the xcenter, ycenter, z values..?

please answer about my question. Thank you.

We're doing some dynamic obstacle avoidance work right now in Nav2. Is this working well enough for you to consider adding it to that effort?

my marker xyz is not at the center of the bounding box, it is around several centimeters behind the bounding box center, anyone knows why?

Can this package estimate the object pose (the direction it is facing/ normal to the object) ? I keep getting the same orientation xyzw