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Fixed support for network of Realsense cameras #6

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Fixed support for network of Realsense cameras #6

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54aea7a
Fix tf publisher name to handle a network of realsense cameras
terremat Mar 9, 2022
5f2922c
Fix skeleton detection when using realsense cameras
terremat Mar 15, 2022
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4 changes: 2 additions & 2 deletions multi_camera_tracking/open_ptrack_config/detection/launch/realsense_frames.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -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) $(arg camera)_link 100" />
</launch>
<node pkg="tf" type="static_transform_publisher" name="$(arg camera)_link_broadcaster" args="$(arg optical_rotate) $(arg camera) $(arg camera)_link 100" />
</launch>
2 changes: 1 addition & 1 deletion multi_camera_tracking/open_ptrack_config/detection/launch/skeleton_detector_realsense.launch
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Expand Up @@ -29,7 +29,7 @@
<param name="caffe_proto" value="$(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" />

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2 changes: 1 addition & 1 deletion ...le_camera_tracking/open_ptrack_config/detection/launch/skeleton_detector_realsense.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -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" />

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