tim-fan / realsense_spencer_adaptor

ROS package for running spencer people tracking from a D435 camera

realsense_spencer_adaptor

A ROS package for running spencer people tracking from a realsense D435i camera. Contains:

• a node realsense_spencer_adaptor.py for changing the encoding on the realsense depth images to something spencer can handle.
• a launch file realsense_people_tracking.launch, which launches the realsense driver, the spencer algorithm and the adaptor node, and remaps the appropriate topics to ensure everything is connected correctly.

Usage

1. Install the realsense driver and spencer tracking.
2. Clone and catkin_make this package in your catkin workspace. Source the workspace.
3. roslaunch realsense_spencer_adaptor realsense_people_tracking.launch

References

• Github issue which discusses the depth image encoding issue: spencer-project/spencer_people_tracking#4
• Spencer people tracking github: https://github.com/spencer-project/spencer_people_tracking
• D435 ROS driver: http://wiki.ros.org/realsense2_camera

realsense_spencer_adaptor's Issues

Enabling cudaHOG with Intel RealSense

I'm currently using Intel RealSense D435. In order to use the Intel RealSense, I'm using this package. I want to use CudaHOG as well. But I don't know what modifications I should do to launch file to remap topics. Does anyone know how to use cudaHOG with RealSense D435?

No tracking result using D435 camera

Hello, can I use this package with D435 camera instead of the D435i?

I try to run the package but there is no tracking result.

I change the paramter in rs_rgbd.launch to <arg name="rgb" default="rgb" />.

I feel something wrong with the topic name from the realsense camera. I try to comment the python file and spencer launch file in realsense_people_tracking.launch. I only launched the realsense camear launch file and below is all the topics that I get when I rostopic list:

alex-beh@alexbeh-ThinkPad-T490:~$ rostopic list
/diagnostics
/rosout
/rosout_agg
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/camera_info
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/compressed
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/compressedDepth
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/theora
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/aligned_depth_to_color/image_raw/theora/parameter_updates
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/camera_info
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/compressed
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/compressedDepth
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/theora
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/aligned_depth_to_infra1/image_raw/theora/parameter_updates
/spencer/sensors/rgbd_front_top/color/camera_info
/spencer/sensors/rgbd_front_top/color/image_raw
/spencer/sensors/rgbd_front_top/color/image_raw/compressed
/spencer/sensors/rgbd_front_top/color/image_raw/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/color/image_raw/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/color/image_raw/compressedDepth
/spencer/sensors/rgbd_front_top/color/image_raw/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/color/image_raw/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/color/image_raw/theora
/spencer/sensors/rgbd_front_top/color/image_raw/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/color/image_raw/theora/parameter_updates
/spencer/sensors/rgbd_front_top/depth/camera_info
/spencer/sensors/rgbd_front_top/depth/image_rect_raw
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/compressed
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/compressedDepth
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/theora
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/depth/image_rect_raw/theora/parameter_updates
/spencer/sensors/rgbd_front_top/depth_registered/points
/spencer/sensors/rgbd_front_top/extrinsics/depth_to_color
/spencer/sensors/rgbd_front_top/extrinsics/depth_to_infra1
/spencer/sensors/rgbd_front_top/extrinsics/depth_to_infra2
/spencer/sensors/rgbd_front_top/infra1/camera_info
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/compressed
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/compressedDepth
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/theora
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/infra1/image_rect_raw/theora/parameter_updates
/spencer/sensors/rgbd_front_top/infra2/camera_info
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw/compressed
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw/compressedDepth
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw/theora
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/infra2/image_rect_raw/theora/parameter_updates
/spencer/sensors/rgbd_front_top/realsense2_camera_manager/bond
/spencer/sensors/rgbd_front_top/rgb/image_rect_color
/spencer/sensors/rgbd_front_top/rgb/image_rect_color/compressed
/spencer/sensors/rgbd_front_top/rgb/image_rect_color/compressed/parameter_descriptions
/spencer/sensors/rgbd_front_top/rgb/image_rect_color/compressed/parameter_updates
/spencer/sensors/rgbd_front_top/rgb/image_rect_color/compressedDepth
/spencer/sensors/rgbd_front_top/rgb/image_rect_color/compressedDepth/parameter_descriptions
/spencer/sensors/rgbd_front_top/rgb/image_rect_color/compressedDepth/parameter_updates
/spencer/sensors/rgbd_front_top/rgb/image_rect_color/theora
/spencer/sensors/rgbd_front_top/rgb/image_rect_color/theora/parameter_descriptions
/spencer/sensors/rgbd_front_top/rgb/image_rect_color/theora/parameter_updates
/spencer/sensors/rgbd_front_top/rgb_camera/auto_exposure_roi/parameter_descriptions
/spencer/sensors/rgbd_front_top/rgb_camera/auto_exposure_roi/parameter_updates
/spencer/sensors/rgbd_front_top/rgb_camera/parameter_descriptions
/spencer/sensors/rgbd_front_top/rgb_camera/parameter_updates
/spencer/sensors/rgbd_front_top/rgb_rectify_color/parameter_descriptions
/spencer/sensors/rgbd_front_top/rgb_rectify_color/parameter_updates
/spencer/sensors/rgbd_front_top/stereo_module/auto_exposure_roi/parameter_descriptions
/spencer/sensors/rgbd_front_top/stereo_module/auto_exposure_roi/parameter_updates
/spencer/sensors/rgbd_front_top/stereo_module/parameter_descriptions
/spencer/sensors/rgbd_front_top/stereo_module/parameter_updates
/tf
/tf_static

Is this normal to have both .../color/... and .../rgb/... topic? Because seem like the spencer didn't subscribe to the correct Image topic.