From 757e1354270786ff27b8815da3d9ca199ff87e10 Mon Sep 17 00:00:00 2001
From: siehlema <martin.siehler@gmx.de>
Date: Fri, 23 Aug 2019 10:49:46 +0000
Subject: [PATCH] added four new launch files for kinect1 skeleton tracking.
 First functionality is given

---
 .../launch/detector_depth_kinect1.launch      | 20 +++++++++
 .../launch/skeleton_detector_kinect1.launch   | 43 ++++++++++++++++++
 ...single_camera_tracking_node_kinect1.launch | 45 +++++++++++++++++++
 .../launch/detector_yolo_kinect1.launch       | 29 ++++++++++++
 4 files changed, 137 insertions(+)
 create mode 100644 detection/launch/detector_depth_kinect1.launch
 create mode 100644 detection/launch/skeleton_detector_kinect1.launch
 create mode 100644 tracking/launch/single_camera_tracking_node_kinect1.launch
 create mode 100644 yolo_detector/launch/detector_yolo_kinect1.launch

diff --git a/detection/launch/detector_depth_kinect1.launch b/detection/launch/detector_depth_kinect1.launch
new file mode 100644
index 00000000..5097f619
--- /dev/null
+++ b/detection/launch/detector_depth_kinect1.launch
@@ -0,0 +1,20 @@
+<launch>
+  <arg name="camera_name"             default="kinect1_head" />
+
+  <!-- Start the Kinect -->
+  <include file="$(find detection)/launch/$(env KINECT_DRIVER).launch">
+    <arg name="device_id"           value="#1" />
+    <arg name="camera"              value="$(arg camera_name)" />
+  </include> 
+
+   <!-- Launch ground based people detection node -->
+   <node pkg="detection" type="ground_based_people_detector" name="ground_based_people_detector" output="screen" required="true">
+    <rosparam command="load" file="$(find detection)/conf/ground_based_people_detector_kinect2.yaml" /> 
+    <param name="classifier_file" value="$(find detection)/data/HogSvmPCL.yaml"/>
+    <param name="camera_info_topic" value="/$(arg camera_name)/rgb/camera_info"/>
+    <param name="output_topic" value="/detector/detections"/>
+    <param name="pointcloud_topic" value="/$(arg camera_name)/depth_registered/points"/>
+    <param name="rate" value="60.0"/>  
+  </node>
+
+</launch>
diff --git a/detection/launch/skeleton_detector_kinect1.launch b/detection/launch/skeleton_detector_kinect1.launch
new file mode 100644
index 00000000..efcd0e25
--- /dev/null
+++ b/detection/launch/skeleton_detector_kinect1.launch
@@ -0,0 +1,43 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- Camera parameters -->
+  <arg name="sensor_id"               default="" />
+  <arg name="sensor_name"             default="kinect1_head" />
+  <arg name="rgb_camera_info_url"     default="" />
+  <arg name="intermediate_topic"      default="/detector/skeletons" />
+  <arg name="ground_from_calibration" default="false" />
+  <arg name="skeletons_enabled"	      default="true" />
+  <arg name="use_coco"                default="true" />
+
+  <!-- Launch ground based people detection node -->
+  <group if="$(arg skeletons_enabled)" >
+  <node pkg="rtpose_wrapper" type="rtpose"
+        name="rtpose_$(arg sensor_name)" output="screen" respawn="true">
+
+    <rosparam command="load"                        file="$(find rtpose_wrapper)/conf/kinect1_params.yaml" />
+
+    <!-- COCO -->
+      <param name="caffe_model" value="$(find rtpose_wrapper)/model/mpi/pose_iter_150000.caffemodel"
+      if="$(arg use_coco)"/>
+      <param name="caffe_proto" value="$(find rtpose_wrapper)/model/mpi/pose_deploy_linevec_64.prototxt" if="$(arg use_coco)"/>
+
+    <!-- MPI -->
+      <param name="caffe_model" value="$(find rtpose_wrapper)/model/mpi/pose_iter_160000.caffemodel"
+      unless="$(arg use_coco)"/>
+      <param name="head_joint_enhancement" value="true"
+      unless="$(arg use_coco)"/>
+      <param name="caffe_proto" value="$(find rtpose_wrapper)/model/mpi/pose_deploy_linevec.prototxt"
+      unless="$(arg use_coco)"/>
+
+    <param name="rgb_topic"                  value="/$(arg sensor_name)/rgb/image_color"/>
+    <param name="depth_topic"		     value="/$(arg sensor_name)/depth_registered/image_raw"/>
+    <param name="camera_info_topic"          value="/$(arg sensor_name)/rgb/camera_info" />
+    <remap from="/detector/skeletons"	     to="$(arg intermediate_topic)" />
+    <remap from="/detector/skeleton_image"   to="/$(arg sensor_name)/skeleton_image" />
+    <remap from="/detector/skeletons_depth_image" to="/$(arg sensor_name)/skeleton_depth_image" />
+    
+  </node>
+  </group>
+
+</launch>
diff --git a/tracking/launch/single_camera_tracking_node_kinect1.launch b/tracking/launch/single_camera_tracking_node_kinect1.launch
new file mode 100644
index 00000000..7164e996
--- /dev/null
+++ b/tracking/launch/single_camera_tracking_node_kinect1.launch
@@ -0,0 +1,45 @@
+<launch>
+
+  <arg name="enable_people_tracking" default="true" />
+  <arg name="enable_pose" default="true" />
+  <arg name="enable_object" default="true" />
+  <arg name="sensor_name" default="kinect1_head" />
+  <!-- Load calibration results -->
+  <!--include file="$(find opt_calibration)/launch/opt_calibration_results.launch"/-->
+
+  <!-- Start Kinect1 Driver-->
+  <include file="$(find detection)/launch/detector_depth_kinect1.launch">
+    <arg name="camera_name" value="$(arg sensor_name)" />
+  </include>
+
+  <group if="$(arg enable_people_tracking)">
+    <!-- People tracking -->
+    <include file="$(find tracking)/launch/tracker_single.launch"/>
+  </group>
+
+  <group if="$(arg enable_pose)">
+    <!-- Skeleton tracking -->
+    <include file="$(find detection)/launch/skeleton_detector_kinect1.launch">
+      <arg name="sensor_name" value="$(arg sensor_name)" />
+    </include>
+    <include file="$(find tracking)/launch/skeleton_tracker_single.launch">
+      <arg name="input_topic" value="/detector/skeletons" />
+    </include>
+    <!-- Pose recognition -->
+    <include file="$(find pose_recognition)/launch/pose_recognition.launch" />
+  </group>
+
+  <!-- Object Tracking -->
+  <group if="$(arg enable_object)">
+    <include file="$(find yolo_detector)/launch/detector_yolo_kinect1.launch">
+      <arg name="sensor_name"             value="$(arg sensor_name)" />
+    </include>
+    <include file="$(find tracking)/launch/object_tracker_single.launch" />
+  </group>
+
+  <!-- UDP messaging -->
+  <include file="$(find opt_utils)/launch/ros2udp_converter.launch"/>
+
+  <!-- Visualization -->
+  <include file="$(find opt_utils)/launch/multicamera_visualization.launch"/>
+</launch>
diff --git a/yolo_detector/launch/detector_yolo_kinect1.launch b/yolo_detector/launch/detector_yolo_kinect1.launch
new file mode 100644
index 00000000..15b4782a
--- /dev/null
+++ b/yolo_detector/launch/detector_yolo_kinect1.launch
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="sensor_name" default="kinect1_head" />
+  <arg name="training_set" default="$(optenv OPT_OBJECT_TRAINING coco)" />  
+  
+  <!-- Launch ground based people detection node -->
+  <node pkg="yolo_detector" type="open_ptrack_yolo_object_detector_node"
+        name="$(arg sensor_name)_yolo_detector_node" output="screen" respawn="false">
+        
+    <param name="depth_image_topic"                   value="/$(arg sensor_name)/depth_registered/image_raw"/>
+    <param name="rgb_image_topic"                  value="/$(arg sensor_name)/rgb/image_color"/>
+    <param name="output_topic"                      value="/objects_detector/detections"/>
+    <param name="camera_info_topic"                 value="/$(arg sensor_name)/rgb/camera_info"/>
+
+   <param name="thresh"		value="0.4"/>
+   <param name="hier_thresh"	value="0.5"/>
+   <param name="median_factor"	value="0.3"/>
+
+   <param name="data_cfg"                   value="$(find yolo_detector)/darknet_opt/cfg/$(arg training_set).data"/>
+   <param name="yolo_cfg"                  value="$(find yolo_detector)/darknet_opt/cfg/$(arg training_set)-test.cfg"/>
+   <param name="weight_file"                      value="$(find yolo_detector)/darknet_opt/$(arg training_set).weights"/>
+   <param name="name_file"                      value="$(find yolo_detector)/data/$(arg training_set).names"/>
+   <param name="encoding_type"                      value="32FC1"/>
+   <param name="in_mm"                      value="1"/>
+
+   <param name="root"                      value="$(find yolo_detector)"/>
+  </node>
+
+</launch>