Merge pull request IntelRealSense#4 from sgutlian/pt-dev-new

Replace person tracking node (put node from person tracking team)

realsense_ros_camera/launch/person_camera.launch

@@ -0,0 +1,4 @@
+<launch>
+    <node pkg="nodelet" type="nodelet" name="relsense_ros_camera" args="standalone realsense_ros_camera/NodeletCamera" output="screen" >
+    </node>
+</launch>

realsense_ros_person/CMakeLists.txt

@@ -1,118 +1,143 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(realsense_ros_person)
 
+# Find catkin macros and libraries
 find_package(catkin REQUIRED COMPONENTS
-  std_msgs 
-  sensor_msgs
-  nodelet
-  message_filters
-  geometry_msgs
-  message_generation
-  roscpp
-  roslib
-  rostime
-  image_transport
-  cv_bridge
-  roscpp_serialization
-  rospy
-
+    std_msgs
+    sensor_msgs
+    nodelet
+    message_filters
+    message_generation
+    roscpp
+    roslib
+    rostime
+    image_transport
+    cv_bridge
+    roscpp_serialization
+    rospy
   )
 
-find_package(OpenCV 3 REQUIRED)
-#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DPT_MW_DEV")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall -fmessage-length=0 --std=c++11 -pthread -fPIC -std=c++0x -fexceptions -frtti -ffunction-sections -fdata-sections")
+include(FindPkgConfig)
+pkg_check_modules(PERSONTRACKING REQUIRED realsense_persontracking)
+
+# Set compile flags
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -fexceptions -frtti")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ")
 
 set(PNG_LIBRARIES png)
 set(JPEG_LIBRARIES jpeg)
 set(CMAKE_THREAD_LIBS_INIT pthread)
 
 set(ROOT                "${CMAKE_CURRENT_SOURCE_DIR}")
-set(SAMPLES_ROOT    "${CMAKE_CURRENT_SOURCE_DIR}/src")
 
-add_definitions(-DPERSON_TRACKING_DATA_FILES="/usr/share/librealsense/pt/data/")
 
 add_message_files(
-  FILES
-  Landmark.msg
-  User.msg
-  UserInfo.msg
-  Frame.msg
-  Gestures.msg
-  Pointing.msg
+    FILES
+    Landmark.msg
+    LandmarksInfo.msg
+    SkeletonJoint.msg
+    User.msg
+    UserInfo.msg
+    Gesture.msg
+    Gestures.msg
+    Pointing.msg
+    Wave.msg
+    Frame.msg
+    FrameTest.msg
+    Rect.msg
+    RectWithConfidence.msg
 )
 
 add_service_files(
-  FILES
-  LoadRecognitionDB.srv
-  RecognitionImgRequest.srv
-  RecognitionRequest.srv
-  SaveRecognitionDB.srv
-  TrackingConfig.srv
-  TrackingRequest.srv
+    FILES
+    TrackingConfig.srv
+    TrackingRequest.srv
+    Recognition.srv
+    RecognitionRegister.srv
+    LoadRecognitionDB.srv
+    SaveRecognitionDB.srv
 )
 
 generate_messages(
-  DEPENDENCIES
-  std_msgs
-  sensor_msgs
-  geometry_msgs
+    DEPENDENCIES
+    std_msgs
+    sensor_msgs
+    geometry_msgs
 )
 
+###########
+## Build ##
+###########
+
 include_directories(
-  ${catkin_INCLUDE_DIRS}
-  /usr/include/librealsense/pt/
-  ${OpenCV_INCLUDE_DIRS}
-  ${SAMPLES_ROOT}/Common
-  ${SAMPLES_ROOT}/Common/TrackingRenderer
-  ${SAMPLES_ROOT}/Common/PersonTracker
-  )
-set( PROJECT_LINK_LIBS
-    realsense
-    realsense_persontracking
-    realsense_projection
-    realsense_image
-    realsense_playback
-    realsense_record
-    realsense_log_utils
-    ${JPEG_LIBRARIES}
-    ${PNG_LIBRARIES}
-    ${CMAKE_THREAD_LIBS_INIT}
-    ${OpenCV_LIBRARIES}
-   )
+    ${catkin_INCLUDE_DIRS}
+    ${PERSONTRACKING_INCLUDE_DIRS}
+    ${ROOT}/src/apiwrapper/server/
+    ${ROOT}/src/apiwrapper/publisher/
+    ${ROOT}/src/apiwrapper/helpers/
+
+)
+
+set( PT_LINK_LIBS
+    ${PERSONTRACKING_LIBRARIES}
+-Wl,--start-group
+        ${OpenCV_LIBS}
+        ${JPEG_LIBRARIES}
+-Wl,--end-group
+        ${PNG_LIBRARIES}
+        ${GTK2_LIBRARIES}
+        ${CMAKE_THREAD_LIBS_INIT}
+     )
 
 catkin_package(
- LIBRARIES realsense_ros_person
- CATKIN_DEPENDS nodelet roscpp std_msgs image_transport sensor_msgs geometry_msgs message_runtime message_filters roslib rostime cv_bridge roscpp_serialization rospy
+    LIBRARIES realsense_ros_person
+    CATKIN_DEPENDS nodelet roscpp std_msgs image_transport sensor_msgs message_filters roslib rostime cv_bridge roscpp_serialization rospy
+
 )
 
-file(GLOB SOURCES
-    "src/realsense_ros_person_nodelet.cpp"
-    "src/PersonTrackingPublisher.cpp"
-    "src/PersonTrackingServer.cpp"
-    "src/Common/TrackingRenderer/*.cpp"
-    "src/Common/PersonTracker/*.cpp"
-    "src/Common/*.cpp"
+file(GLOB ROS_WRAPPER_SOURCES
+    "src/apiwrapper/*.cpp"
+    "src/apiwrapper/helpers/*.cpp"
+    "src/apiwrapper/publisher/*.cpp"
+    "src/apiwrapper/server/*.cpp"
 )
 
+# build person tracking API ROS wrapper
 add_library(realsense_ros_person
-	${SOURCES}
- )
+    ${ROS_WRAPPER_SOURCES}
+)
 
- target_link_libraries(realsense_ros_person
-	 ${PROJECT_LINK_LIBS}
-      	 ${catkin_LIBRARIES}
-	 )
 
- add_dependencies(realsense_ros_person ${PROJECT_NAME}_gencpp)
+target_link_libraries(realsense_ros_person
+    ${PT_LINK_LIBS}
+    ${catkin_LIBRARIES}
+)
+
+
+add_dependencies(realsense_ros_person ${PROJECT_NAME}_generate_messages_cpp)
+
 
+add_executable(${PROJECT_NAME}_sample
+    ${ROOT}/src/sample/PersonTrackingSampleRunner.cpp
+    ${ROOT}/src/sample/PersonTrackingSample.cpp
+    ${ROOT}/src/sample/TrackingRenderer/TrackingRenderer.cpp
+    ${ROOT}/src/sample/TrackingRenderer/Viewer.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}_sample
+        ${catkin_LIBRARIES}
+        ${OpenCV_LIBRARIES}
+        )
+
+add_dependencies(${PROJECT_NAME}_sample ${PROJECT_NAME}_generate_messages_cpp)
 
 # Install launch files
 install(DIRECTORY launch/
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
 )
 
+#TODO update test_nodelet.xml
 # Install xml files
 install(FILES test_nodelet.xml
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
-

realsense_ros_person/README.md

@@ -1,79 +1,94 @@
-realsense_ros_person released by Perc-China(draft)
-======================================
-This package contains a ROS wrapper for Intel's realsense_persontracking library. The realsense_ros_person package provides an image-based strategy to track and recognize the people in front of the camera as a ROS nodelet. For instance, it's guaranteed only with the RealSense device (tested with Depth and Color images received from ROS nodelet realsense_ros_camera). The objective of this module is to get the information(can be pose, orientation, id etc.) of a person( or a specific person) in the images.  
+realsense_ros_person v0.0.1
+
+This package contains a ROS wrapper for Intel's PersonTracking library. The realsense_pt package provides a image-based stategy to follow the people in front of the camera as a ROS nodelet. For instance,it's garantieed only with RealSense ZR300(tested with Depth and Color images recieved from ROS nodelet realsense_camera). The objectif of this module is to find out the informations(can be pose,oriantation,id etc.) of a person(or a specific person) in the images.
+
+1. Hardware/Software Requirement
+
+  system requirements:
+    Ubuntu 16.04 LTS
+    GTK+2.0
+    libjpeg-dev
+    libpng-dev
+    librealsense 2.2.0
+    realsense-sdk
+    person tracking
+    ROS indigo
 
-1. Hardwarei/Software Requirement
---------------------------------------
-### ubuntu requirements:
-<br /\>     Ubuntu 16.04
-<br /\>     gcc 4.9.3
-### libraries of intel used(version beta3 RC5):
-<br /\>     librealsense
-<br /\>     Link: https://securewiki.ith.intel.com/pages/viewpage.action?pageId=510951805
-### ros package requirements:
-<br /\>     realsense_pt_msgs
-<br /\>     realsense_pt_srvs
 2. Example 
---------------------------------------
-<br /\>    To use realsense_ros_person, you need a RealSense device (LR200 or ZR300) and realsense_ros_camera (RealSense ros package) in your system and launched.
-<br /\>    To start realsense_ros_person and realsense_ros_camera with command: 
-           roslaunch realsense_ros_person camera_track.launch
+   To use realsense_ros_person,you may need a RealSense camera (ZR300 minimum) with the realsense_camera package in your system and launched.  
+
+  2.1 Quick start
+    To start realsense camera and realsense_pt nodes with command:
+        roslaunch realsense_pt cam_track.launch
+    To start realsense_pt only with command:
+        roslaunch realsense_pt track.launch
+    To start a graphic test application(compiled as part of project)
+        devel/lib/realsense_pt_sample/realsense_pt_sample
+    And you can set the configuration according to need, by modifier the params in
+        ./realsense_pt/launch/pt_params.yaml
 3. Nodelet
---------------------------------------
-##  3.1 realsense_ros_person 
-    The realsense_ros_person nodelet take camera infos(sensor_msgs/CameraInfo), color stream, depth stream (sensor_msgs/Image), published by realsense_ros_camera nodelet, send the information of person detected after calculation as realsense_pt_msgs/Frame messages.
-###  3.1.1 Subscribed Topics
-      camera/depth/camera_info (sensor_msgs/CameraInfo)
-        The intrinsic (and extrinsics) of camera (depth and depth to color)
-      camera/color/camera_info (sensor_msgs/CameraInfo)
-        The intrinsic of camera (color)
-      camera/depth/image_raw (sensor_msgs/Image)
-        Depth image stream received from RealSense device
-      camera/color/image_raw (sensor_msgs/Image)
-        Color image stream received from RealSense device
-###  3.1.2 Published Topics
-      person_tracking/person_tracking_output (realsense_pt_msgs/Frame)
-        Results information of person tracked
-      image_result (sensor_msgs/Image)
-        Image result of person tracked, you may see the image with rviz or rqt_image_view
-###  3.1.3 Services
-      person_tracking/tracking_config (realsense_pt_srvs/TrackingConfig)
+  3.1 realsense_pt - person tracking node - wraps person tracking API
+    The realsense_pt nodelet takes sensor_msgs/CameraInfo camera infos and sensor_msgs/Image images(color, depth),then send the informations of person detected as realsense_pt_msgs/Frame realsense_pt_msgs/FrameTest messages.
+  3.1.1 Subscribed Topics
+    camera/depth/camera_info (sensor_msgs/CameraInfo)
+        The informations of camera used
+    camera/color/camera_info (sensor_msgs/CameraInfo)
+        The informations of camera used
+    camera/depth/image_view (sensor_msgs/Image)
+        Depth image got from realsense camera
+    camera/color/image_view (sensor_msgs/Image)
+        Color image got from realsense camera
+  3.1.2 Published Topics
+    person_tracking/person_tracking_output (realsense_pt_msgs/Frame) Informations of person tracked
+    person_tracking/person_tracking_output_test (realsense_pt_msgs/FrameTest) Informations of person tracked + color image from camera
+
+  3.1.3 Services
+    person_tracking/tracking_config (realsense_srvs/TrackingConfig)
         Reconfigure several settings for PersonTracking
-      person_tracing/recognition_request (realsense_pt_srvs/RecognitionRequest)
-        Reconfigure to register or remove a person to recognition 
-      person_tracking/tracking_request (realsense_pt_srvs/TrackingRequest)
+    person_tracking/register_request (realsense_srvs/RecognitionRegister)
+        Register person at recognition database
+    person_tracking/recognition_request (realsense_srvs/Recognition)
+        Recognize person
+    person_tracking/tracking_request (realsense_srvs/TrackingRequest)
         Reconfigure to start or stop tracking
-      person_tracking/save_recognition (realsense_pt_srvs/SaveRecognitionDB)
+    person_tracking/save_recognition (realsense_srvs/SaveRecognitionDB)
         Save the recognition data base to file
-      person_tracking/load_recognition (realsense_pt_srvs/LoadRecognitionDB)
+    person_tracking/load_recognition (realsense_srvs/LoadRecognitionDB)
         Load the recognition data base from file
-      person_tracking/recognition_image_request (realsense_pt_srvs/RecognitionImgRequest)
-        Register or remove a person to recognition by image
-###  3.1.4 Parameters
-      ~recognitionEnabled (bool, default: false)
+
+  3.1.4 Parameters
+    ~recognitionEnabled (bool, default: false)
         Enable/Disable recognition
-      ~sceletonEnable (bool, default: false)
+    ~sceletonEnabled (bool, default: false)
         Enable/Disable skeleton
-      ~gesturesEnabled (bool, default: false)
+    ~gesturesEnabled (bool, default: false)
         Enable/Disable gestures
-      ~trackingEnabled (bool, default: false)
-        Enable/Disable track person
-      ~trackingMode  (int, default: 1)
-        0: will start the MW in detection mode.
-        1: will track first person in frame
-      ~loadDb (bool, default: false)
-        Load recognition data base from file specified at (~dbPath) parameter
-      ~dbPath (string, default: 'package_path/db')
+    ~trackingEnabled (bool, default: false)
+    ~loadDb (bool, default: false)
+        Loads recognition data base from file specified at (~dbPath) parameter
+    ~dbPath: 'package_path/db'
         Path of recognition data base
-      ~headPositionEnabled (bool, default: false)
-        Enable/Disable headPosition
-      ~headBoundingBoxEnabled (bool, default: false)
-        Enable/Disable headBoundingBox
-      ~landmarksEnabled (bool, default: false)
-        Enable/Disable landmarks
-      ~allowImgRegistration(bool, default: false)
-        true: Allowed only image registration by calling service /person_tracking/registration_image_request
-        false: Normal mode or PersonTracking without registration by image
-      ~serial_no: (str::string, default: '') 
-        The serial_number of device that you want to connect. By default, the first device will be used.
-
+    ~isTestMode: (bool, defaultL false)
+        Start node at test mode, publish FrameTest messages on person_tracking/person_tracking_output_test topic
+
+   3.2.1 realsense_ros_person_sample Demo/test node - input: person tracking test output, output color image with person tracking data (rectangles etc.)
+   3.2.1 Subscribed Topics
+        person_tracking/person_tracking_output_test (realsense_pt_msgs/FrameTest)
+   3.2.2 Published Topics
+        nothing
+   3.2.3 Services
+        nothing
+   3.2.4 GUI commands:
+        Start tracking:
+            Mouse wheel click
+        Register:
+            Mouse left button click
+        Recognize:
+            Ctrl+left mouse button click
+   4. How to run:
+        Person tracking node only (assumes that camera node already run):
+            roslaunch realsense_ros_person track.launch
+        Person tracking node and camera node:
+            roslaunch realsense_ros_person cam_track.launch
+        Person tracking node and camera node and person tracking test(sample) node:
+            roslaunch realsense_ros_person realsense_person_tracking_test.launched