From 54aea7ab01301a43e3421a6857374268dbc7ffe7 Mon Sep 17 00:00:00 2001
From: Matteo Terreran <matteo.terreran@gmail.com>
Date: Wed, 9 Mar 2022 17:33:28 +0100
Subject: [PATCH 1/2] Fix tf publisher name to handle a network of realsense
 cameras

The name for the transform publisher was hardcoded as "link1_broadcaster", which prevented from using a network of multiple Realsense cameras. Fixed by inlcuding the camera argument in the broadcaster name.
---
 .../detection/launch/realsense_frames.launch                  | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/multi_camera_tracking/open_ptrack_config/detection/launch/realsense_frames.launch b/multi_camera_tracking/open_ptrack_config/detection/launch/realsense_frames.launch
index 15dd796..95e8994 100644
--- a/multi_camera_tracking/open_ptrack_config/detection/launch/realsense_frames.launch
+++ b/multi_camera_tracking/open_ptrack_config/detection/launch/realsense_frames.launch
@@ -5,5 +5,5 @@
   <arg name="pi/2" value="1.5707963267948966" />
   <arg name="pi" value="3.14159265359" />
   <arg name="optical_rotate" value="0 0 0 $(arg pi/2) -$(arg pi/2) 0" />
-  <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="$(arg optical_rotate) $(arg camera) $(arg camera)_link 100" />                 
-</launch>
\ No newline at end of file
+  <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_link_broadcaster" args="$(arg optical_rotate) $(arg camera) $(arg camera)_link 100" />                 
+</launch>

From 5f2922c031ad0296a6607117a0ae9ec4e434d18c Mon Sep 17 00:00:00 2001
From: Matteo Terreran <matteo.terreran@gmail.com>
Date: Tue, 15 Mar 2022 16:59:26 +0100
Subject: [PATCH 2/2] Fix skeleton detection when using realsense cameras

The skeleton_detector node was subscribing to a depth image topic with a different resolution compared to the color image topic
---
 .../detection/launch/skeleton_detector_realsense.launch         | 2 +-
 .../detection/launch/skeleton_detector_realsense.launch         | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/multi_camera_tracking/open_ptrack_config/detection/launch/skeleton_detector_realsense.launch b/multi_camera_tracking/open_ptrack_config/detection/launch/skeleton_detector_realsense.launch
index 183ed01..61a0ad6 100644
--- a/multi_camera_tracking/open_ptrack_config/detection/launch/skeleton_detector_realsense.launch
+++ b/multi_camera_tracking/open_ptrack_config/detection/launch/skeleton_detector_realsense.launch
@@ -29,7 +29,7 @@
       <param name="caffe_proto" value="$(find rtpose_wrapper)/model/mpi/pose_deploy_linevec.prototxt"
       unless="$(arg use_coco)"/>
 
-    <param name="depth_topic"                   value="/$(arg sensor_name)/depth/image_rect_raw"/>
+    <param name="depth_topic"                value="/$(arg sensor_name)/aligned_depth_to_color/image_raw"/>
     <param name="rgb_topic"                  value="/$(arg sensor_name)/color/image_rect_color"/>
     <param name="camera_info_topic"          value="/$(arg sensor_name)/color/camera_info" />
 
diff --git a/single_camera_tracking/open_ptrack_config/detection/launch/skeleton_detector_realsense.launch b/single_camera_tracking/open_ptrack_config/detection/launch/skeleton_detector_realsense.launch
index 183ed01..61a0ad6 100644
--- a/single_camera_tracking/open_ptrack_config/detection/launch/skeleton_detector_realsense.launch
+++ b/single_camera_tracking/open_ptrack_config/detection/launch/skeleton_detector_realsense.launch
@@ -29,7 +29,7 @@
       <param name="caffe_proto" value="$(find rtpose_wrapper)/model/mpi/pose_deploy_linevec.prototxt"
       unless="$(arg use_coco)"/>
 
-    <param name="depth_topic"                   value="/$(arg sensor_name)/depth/image_rect_raw"/>
+    <param name="depth_topic"                value="/$(arg sensor_name)/aligned_depth_to_color/image_raw"/>
     <param name="rgb_topic"                  value="/$(arg sensor_name)/color/image_rect_color"/>
     <param name="camera_info_topic"          value="/$(arg sensor_name)/color/camera_info" />