Changed pos_downloader.cpp and pos_uploader.cpp:

- pos_downloader.cpp: changed the type of marker put on detected car from CUBE to SPHERE
- pos_uploader.cpp: make pos_uploader node to subscribe to obj_car/obj_label and obj_person/obj_label

ros/src/computing/perception/detection/lib/image/kf/CMakeLists.txt

@@ -20,6 +20,7 @@ catkin_package(
 #  LIBRARIES dpm
 #  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
+  CATKIN_DEPENDS runtime_manager
 )
 
 ###########

ros/src/computing/perception/detection/lib/image/kf/package.xml

@@ -7,6 +7,7 @@
   <license>BSD</license>
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>dpm</build_depend>
+  <run_depend>runtime_manager</run_depend>
   <export>
   </export>
 </package>

ros/src/data/packages/pos_db/nodes/pos_downloader/pos_downloader.cpp

@@ -181,29 +181,18 @@ static void publish_car(int id, int is_current, ros::Time now,
 
   } else {
     marker.id = create_markerid(pose, 1);
-    marker.type = visualization_msgs::Marker::CUBE;
+    marker.type = visualization_msgs::Marker::SPHERE;
     marker.lifetime = ros::Duration(life_time);
     marker.color.r = 1.0;
     marker.color.g = 0.0;
     marker.color.b = 0.0;
     marker.color.a = alpha_percent(diffmsec);
-    marker.scale.x = 4.4; // #A
-    marker.scale.y = 1.6;
-    marker.scale.z = 1.0; // #1
+    marker.scale.x = 2.0;
+    marker.scale.y = 2.0;
+    marker.scale.z = 2.0;
     marker.pose.position.z += 0.5; // == #1/2
     pub.publish(marker);
     dbg_out_marker(marker);
-
-    marker.id = 1 + create_markerid(pose, 1);
-    marker.scale.x = 3.0; // #B
-    marker.scale.y = 1.6;
-    marker.scale.z = 0.6; // #2
-    marker.pose = pose;
-    marker.pose.position.x += (4.4 - 3.0) / 2; // == (#A - #B)/2
-    marker.pose.position.z += 1.0 + 0.3; // == #1 + #2/2
-
-    pub.publish(marker);
-    dbg_out_marker(marker);
   }
 }
 

ros/src/data/packages/pos_db/nodes/pos_uploader/pos_uploader.cpp

@@ -43,14 +43,17 @@
 #include <geometry_msgs/PoseStamped.h>
 #include <geometry_msgs/PoseArray.h>
 #include <geometry_msgs/Point.h>
+#include <visualization_msgs/Marker.h>
+#include <visualization_msgs/MarkerArray.h>
+
 
 #include <pos_db.h>
 #include <cv_tracker/obj_label.h>
 
 #define MYNAME		"pos_uploader"
 #define OWN_TOPIC_NAME	"current_pose"
-#define CAR_TOPIC_NAME	"obj_car/obj_label"
-#define PERSON_TOPIC_NAME	"obj_person/obj_label"
+#define CAR_TOPIC_NAME	"obj_car/obj_pose"
+#define PERSON_TOPIC_NAME	"obj_person/obj_pose"
 
 using namespace std;
 
@@ -249,24 +252,51 @@ static void* intervalCall(void *unused)
   return nullptr;
 }
 
-static void car_locate_cb(const cv_tracker::obj_label& obj_label_msg)
+
+static void car_locate_cb(const visualization_msgs::MarkerArray& obj_pose_msg)
 {
-  if(obj_label_msg.reprojected_pos.size() > 0) {
-    pthread_mutex_lock(&pose_lock_);
-    car_num += obj_label_msg.reprojected_pos.size();
-    car_positions_array.push_back(obj_label_msg);
-    pthread_mutex_unlock(&pose_lock_);
-  }
+	if (obj_pose_msg.markers.size() > 0) {
+		geometry_msgs::Point tmpPoint;
+		cv_tracker::obj_label tmpLabel;
+
+		pthread_mutex_lock(&pose_lock_);
+
+		for (visualization_msgs::Marker tmpMarker : obj_pose_msg.markers) {
+			tmpPoint.x = tmpMarker.pose.position.x;
+			tmpPoint.y = tmpMarker.pose.position.y;
+			tmpPoint.z = tmpMarker.pose.position.z;
+
+			tmpLabel.reprojected_pos.push_back(tmpPoint);
+		}
+
+		car_positions_array.push_back(tmpLabel);
+		car_num += obj_pose_msg.markers.size();
+
+		pthread_mutex_unlock(&pose_lock_);
+	}
 }
 
-static void person_locate_cb(const cv_tracker::obj_label& obj_label_msg)
+static void person_locate_cb(const visualization_msgs::MarkerArray &obj_pose_msg)
 {
-  if(obj_label_msg.reprojected_pos.size() > 0) {
-    pthread_mutex_lock(&pose_lock_);
-    person_num += obj_label_msg.reprojected_pos.size();
-    person_positions_array.push_back(obj_label_msg);
-    pthread_mutex_unlock(&pose_lock_);
-  }
+	if (obj_pose_msg.markers.size() > 0) {
+		geometry_msgs::Point tmpPoint;
+		cv_tracker::obj_label tmpLabel;
+
+		pthread_mutex_lock(&pose_lock_);
+
+		for (visualization_msgs::Marker tmpMarker : obj_pose_msg.markers) {
+			tmpPoint.x = tmpMarker.pose.position.x;
+			tmpPoint.y = tmpMarker.pose.position.y;
+			tmpPoint.z = tmpMarker.pose.position.z;
+
+			tmpLabel.reprojected_pos.push_back(tmpPoint);
+		}
+
+		person_positions_array.push_back(tmpLabel);
+		person_num += obj_pose_msg.markers.size();
+
+		pthread_mutex_unlock(&pose_lock_);
+	}
 }
 
 static void current_pose_cb(const geometry_msgs::PoseStamped &pose)