Comments (4)
vin3697
commented on July 19, 2024
1
Dear @ravijo ,
I created a launch file named config_kinectxbox.launch where I have made changes as below,
<!-- rostopic to subscribe for depth images -->
<arg name="depth_topic" default="/camera/depth_to_rgb/image_raw" />
<!-- rostopic to subscribe for camera calibration parameters -->
<arg name="cam_info_topic" default="/camera/rgb/camera_info" />
<!-- frame id for point cloud and 3D skeleton data -->
<arg name="frame_id" default="camera_rgb_frame" />
<!-- invoke kinect camera ros package -->
<include file="$(find freenect_launch)/launch/freenect.launch" >
<arg name="publish_tf" value="true" />
</include>
<!--args="-d $(find ros_openpose)/files/only_person_kinectxbox.rviz" GENERATE THIS FILE AND CONFIGRATION OF RVIZ-->
<!-- invoke rviz -->
<group if="$(arg rviz)" >
<node pkg="rviz" type="rviz" respawn="false" required="true" name="rviz"/>
</group>
I am just launching the RVIZ without any prior settings.
Still I am getting the same issue.
At present, to keep the work going on, I have made a change in the config_nodepth.launch file (gave the RGB image topic), and its working fine with it.
If i need any further help I will open this issue again.
Thank you for your help!
Regards
Vin
from ros_openpose.
ravijo
commented on July 19, 2024
Is the freenect driver still supported? BTW, there are many places where things could go wrong. So, please debug the issue step by step as mentioned below:
- Please make sure you are using correctly formatted XML. Most of the XML you shared above was incorrect. I tried correcting it but left in between.
- Can you please run the standalone OpenPose to confirm that OpenPose is installed correctly and works well? Please run the command as mentioned in this section.
- Using the freenect driver, can you please make sure depth and color frames are received properly? You may use RViz to view these topics.
- Please check Camera Run Instructions and FAQ sections as well.
Thanks
from ros_openpose.
vin3697
commented on July 19, 2024
Hi @ravijo,
Thank you very much for your quick response.
Sorry, I forgot to mention that I am using Ubuntu 18.04 Melodic ROS distro so, freenect is working for me.
As I said I tried openni ROS driver but the device is not getting detected.
-
Yes, I will try to correct them.
-
Yes, openpose library is installed correctly and I am able to use it executing the ./build/examples/openpose/openpose.bin example and it runs smooth.
-
Yes, I have checked, the freenect driver is working.
-
Yes, I have tired to this roslaunch ros_openpose run.launch camera:=nodepth file, and it also works smooth with my USB camera.
With kinect I am having issue, where as soon as a person comes into a frame the process dies.
I have already went through all the issues related to kinect on this repo.
Thank you for suggestions, I just have to check with the xml formatting.
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vin3697
commented on July 19, 2024
Hello Ravi,
I am able to run your ROS openpose wrapper with Kinect Xbox 360 camera.
Sharing these files if someone is working with it:
For RVIZ files, I have just compared with other files and created them with some changes.
- config_kinectxbox.launch
<?xml version="1.0"?>
<!--
config_realsense.launch
Author: Ravi Joshi
Note: Do not run this file directly. Please call run.launch file instead.
Date: 2019/10/08
-->
<launch>
<param name="/use_sim_time" value="true"/>
<!-- rostopic to subscribe for color images -->
<arg name="color_topic" default="/camera/rgb/image_raw" />
<!-- rostopic to subscribe for depth images -->
<arg name="depth_topic" default="/camera/depth_registered/image_raw" />
<!-- rostopic to subscribe for camera calibration parameters -->
<arg name="cam_info_topic" default="/camera/rgb/camera_info" />
<!-- frame id for point cloud and 3D skeleton data -->
<arg name="frame_id" default="camera_depth_optical_frame" />
<!-- realsense camera provide depth information.
hence unset the flag. -->
<arg name="no_depth" default="false" />
<!-- note that the following parameters are going to assigned by other launch file upon call. -->
<arg name="rviz" default="" />
<arg name="print" default="" />
<arg name="skeleton" default="" />
<arg name="pub_topic" default="" />
<arg name="pointcloud" default="" />
<arg name="id_text_size" default="" />
<arg name="openpose_args" default="" />
<arg name="id_text_offset" default="" />
<arg name="skeleton_hands" default="" />
<arg name="skeleton_line_width" default="" />
<arg name="synchronous" default="" />
<arg name="py_openpose_path" default="" />
<include file="$(find ros_openpose)/launch/core.launch" >
<arg name="print" value="$(arg print)" />
<arg name="no_depth" value="$(arg no_depth)" />
<arg name="skeleton" value="$(arg skeleton)" />
<arg name="frame_id" value="$(arg frame_id)" />
<arg name="pub_topic" value="$(arg pub_topic)" />
<arg name="color_topic" value="$(arg color_topic)" />
<arg name="depth_topic" value="$(arg depth_topic)" />
<arg name="id_text_size" value="$(arg id_text_size)" />
<arg name="openpose_args" value="$(arg openpose_args)" />
<arg name="id_text_offset" value="$(arg id_text_offset)" />
<arg name="skeleton_hands" value="$(arg skeleton_hands)" />
<arg name="cam_info_topic" value="$(arg cam_info_topic)" />
<arg name="skeleton_line_width" value="$(arg skeleton_line_width)" />
<arg name="synchronous" value="$(arg synchronous)" />
<arg name="py_openpose_path" value="$(arg py_openpose_path)" />
</include>
<!-- invoke kinect_xbox camera ros package -->
<!-- HUMAN SKELETON plus BACKGRAOUND -->
<group if="$(arg pointcloud)" >
<include file="$(find freenect_launch)/launch/freenect.launch" >
<arg name="publish_tf" value="true" />
</include>
<!-- invoke rviz -->
<group if="$(arg rviz)" >
<node pkg="rviz" type="rviz" respawn="false" required="true" name="rviz" args="-d $(find ros_openpose)/files/person_pointcloud_kinectxbox.rviz" />
</group>
</group>
<!-- Only HUMAN SKELETON without BACKGRAOUND -->
<group if="$(arg pointcloud)" >
<include file="$(find freenect_launch)/launch/freenect.launch" >
<arg name="publish_tf" value="true" />
</include>
<!-- invoke rviz -->
<group if="$(arg rviz)" >
<node pkg="rviz" type="rviz" respawn="false" required="true" name="rviz" args="-d $(find ros_openpose)/files/only_person_kinectxbox.rviz" />
</group>
</group>
</launch>
- only_person_kinectxbox.rviz
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.5
Tree Height: 773
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /visualization
Name: Human Skeleton
Namespaces:
{}
Queue Size: 100
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: camera_depth_optical_frame
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2.91697
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.0791137
Y: 0.0414217
Z: 2.84133
Name: Current View
Near Clip Distance: 0.01
Pitch: -1.4248
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 4.68858
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1056
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000017b00000394fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000394000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000394fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000394000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f00000040fc0100000002fb0000000800540069006d006501000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000005be0000039400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1855
X: 1985
Y: 24
3. person_pointcloud_kinectxbox.rviz
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Status1
- /Point Cloud1
Splitter Ratio: 0.5
Tree Height: 773
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Point Cloud
Visualization Manager:
Class: ""
Displays:
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /visualization
Name: Human Skeleton
Namespaces:
visualization: true
Queue Size: 100
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: Point Cloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Flat Squares
Topic: /camera/depth_registered/points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: camera_depth_optical_frame
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 2.91697
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.0791137
Y: 0.0414217
Z: 2.84133
Name: Current View
Near Clip Distance: 0.01
Pitch: -1.4248
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 4.68858
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1056
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd00000004000000000000019900000394fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000394000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000394fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000394000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f00000040fc0100000002fb0000000800540069006d006501000000000000073f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000005a00000039400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1855
X: 1975
Y: 14
4. roslaunch ros_openpose run.launch camera:=kinectxbox
I have these minor issues which are unimportant atleast for now #78 and #41 / #31
Thank you for your work.
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Related Issues (20)
- Increasing frame rate for Azure Kinect HOT 3
- Cannot get it to work in the most standard configuration HOT 2
- Frame_id + Publishing depth information HOT 6
- Information about Face Output HOT 7
- Hand skeleton error HOT 4
- Net Resolution HOT 2
- Only Hand Poses HOT 1
- Skeleton error in Rviz HOT 2
- Directory for openpose python node HOT 6
- encoding MONO16 support HOT 5
- Cmake Error - Package Configuration File Not Found HOT 2
- Error of run.launch HOT 14
- Input the Wrapper a recorded Azure Kinect Video HOT 2
- (OpenPose 1.7.0:16877): Gtk-ERROR ** HOT 5
- Need to detect only one person in the frame HOT 2
- Missing tags section HOT 2
- Lunch file operation error HOT 6
- Error running the launch file run.launch HOT 2
- Question about ROS Message Frame 3D Points HOT 1
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