Tracker does not work with static people
bach05 opened this issue · 2 comments
Hi,
I'm using the framework in ROS Melodic with the PCL-based detector. I would like to know why the tracker is not working with static people. In the detection topic /spencer/perception/detected_persons I have both static and moving people:
header:
seq: 424
stamp:
secs: 126
nsecs: 563000000
frame_id: "base_footprint"
detections:
-
detection_id: 804
confidence: 0.789739012718
pose:
pose:
position:
x: 2.51309752464
y: 0.268414497375
z: 0.833835959435
orientation:
x: 1.0
y: 0.0
z: 0.0
w: 0.0
covariance: [0.028900000000000006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.028900000000000006, 1.4248800100554528e-33, 0.0, 0.0, 0.0, 0.0, 1.4248800100554528e-33, 0.028900000000000006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 999999.0, 999999.0, 999999.0, 0.0, 0.0, 0.0, 999999.0, 999999.0, 999999.0, 0.0, 0.0, 0.0, 999999.0, 999999.0, 999999.0]
modality: "rgbd"
-
detection_id: 805
confidence: 0.64065861702
pose:
pose:
position:
x: 2.38973236084
y: 1.2305482626
z: 0.830446779728
orientation:
x: 1.0
y: 0.0
z: 0.0
w: 0.0
covariance: [0.028900000000000006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.028900000000000006, 1.4248800100554528e-33, 0.0, 0.0, 0.0, 0.0, 1.4248800100554528e-33, 0.028900000000000006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 999999.0, 999999.0, 999999.0, 0.0, 0.0, 0.0, 999999.0, 999999.0, 999999.0, 0.0, 0.0, 0.0, 999999.0, 999999.0, 999999.0]
modality: "rgbd"
---
header:
seq: 425
stamp:
secs: 126
nsecs: 633000000
frame_id: "base_footprint"
detections:
-
detection_id: 806
confidence: 0.779071986675
pose:
pose:
position:
x: 2.51674199104
y: 0.270926356316
z: 0.833391308784
orientation:
x: 1.0
y: 0.0
z: 0.0
w: 0.0
covariance: [0.028900000000000006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.028900000000000006, 1.4248800100554528e-33, 0.0, 0.0, 0.0, 0.0, 1.4248800100554528e-33, 0.028900000000000006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 999999.0, 999999.0, 999999.0, 0.0, 0.0, 0.0, 999999.0, 999999.0, 999999.0, 0.0, 0.0, 0.0, 999999.0, 999999.0, 999999.0]
modality: "rgbd"
-
detection_id: 807
confidence: 0.662306666374
pose:
pose:
position:
x: 2.38957381248
y: 1.22992503643
z: 0.831639051437
orientation:
x: 1.0
y: 0.0
z: 0.0
w: 0.0
covariance: [0.028900000000000006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.028900000000000006, 1.4248800100554528e-33, 0.0, 0.0, 0.0, 0.0, 1.4248800100554528e-33, 0.028900000000000006, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 999999.0, 999999.0, 999999.0, 0.0, 0.0, 0.0, 999999.0, 999999.0, 999999.0, 0.0, 0.0, 0.0, 999999.0, 999999.0, 999999.0]
modality: "rgbd"
---
But in the tracking topic /spencer/perception/tracked_persons I have only moving people:
header:
seq: 276
stamp:
secs: 126
nsecs: 633000000
frame_id: "odom"
tracks:
-
track_id: 0
is_occluded: False
is_matched: False
detection_id: 0
age:
secs: 4
nsecs: 650000000
pose:
pose:
position:
x: -5.56138168039
y: -5.39720909843
z: 0.0
orientation:
x: 0.0
y: 0.0
z: -0.982902285511
w: 0.184127936873
covariance: [0.06664105965826517, -0.018896863912598684, 0.0, 0.0, 0.0, 0.0, -0.01889686391259868, 0.09972256787969144, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9999999.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9999999.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9999999.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.030461741978670857]
twist:
twist:
linear:
x: -0.64919326339
y: -0.25207386438
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
covariance: [0.16929918165952346, -0.06736934552562276, 0.0, 0.0, 0.0, 0.0, -0.06736934552562276, 0.3075734284549735, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9999999.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9999999.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9999999.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 9999999.0]
---
I attach also my launch file. Am I doing something wrong or what?
tracking_single_rgbd_sensor_personalized.txt
front_rgbd_detectors_personalized.txt
freiburg_people_tracking_personalized.txt
start_personalized.txt
Thank you in advance!
In freiburg_people_tracking_personalized.txt, when you include nnt.launch, try to set its argument use_initiation_logic to false. The initiation logic, with the default set of parameters, requires some motion for tracks to be initiated.
Ok, thank you! It worked.
By the way, I may have some other questions in other aspects of the framework. Could I open new issues?