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added new launch files for kinect1 skeleton tracking #81

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added new launch files for kinect1 skeleton tracking #81

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20 changes: 20 additions & 0 deletions detection/launch/detector_depth_kinect1.launch
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<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>
43 changes: 43 additions & 0 deletions detection/launch/skeleton_detector_kinect1.launch
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<?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>
45 changes: 45 additions & 0 deletions tracking/launch/single_camera_tracking_node_kinect1.launch
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<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="$(find opt_utils)/launch/multicamera_visualization.launch"/>
</launch>
29 changes: 29 additions & 0 deletions yolo_detector/launch/detector_yolo_kinect1.launch
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<?xml version="1.0"?>
<launch>
<arg name="sensor_name" default="kinect1_head" />
<arg name="training_set" default="$(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>