People-Detection Tutorial - Adit Jha #54
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…al with correct github link
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| <h2> By: <a href=https://www.linkedin.com/in/aditmjha/>Adit Jha (Undergrad)</a></h2> |
| ### Goal | ||
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| This tutorial will show you how you can use the RealSense camera on MuSHR cars to detect people and visualize their positions in the car's reference frame. | ||
| By the end of this tutorial, you should have a working python package that uses SSD MobileNet V2 to perform |
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| ## Getting Started with People Detection | ||
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| 1. Please clone the following repository that contains the python package [`people-detection`](https://github.com/prl-mushr/people_detection). |
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README on repo should follow a format like this: https://github.com/prl-mushr/mushr_rhc
Instead of duplicating the instructions you can just link the tutorial
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| ## Getting Started with People Detection | ||
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| 1. Please clone the following repository that contains the python package [`people-detection`](https://github.com/prl-mushr/people_detection). |
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clone the repo into ../catkin_ws/src/
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| 1. Please clone the following repository that contains the python package [`people-detection`](https://github.com/prl-mushr/people_detection). | ||
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| This repo contains a `src` directory that holds the code necessary to run object detections and 3D position estimates. |
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Your repo needs a launch file. It is not a good ros convention to run the python files directly. We need to make this a rospackage too. http://wiki.ros.org/ROS/Tutorials/CreatingPackage
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| ## Getting Started with People Detection | ||
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| 1. Please clone the following repository that contains the python package [`people-detection`](https://github.com/prl-mushr/people_detection). |
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put the clone command in here. cd ~/catkin_ws/src/ && git clone https://github.com/prl-mushr/people_detection.git
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tutorials should be very much like hand holding someone through the process
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| 2. Install the following package used for calculating 3D coordinates: | ||
| ``` | ||
| sudo apt-get update |
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In front of all commads please put at "$" as is the convention for our tutorials. https://mushr.io/tutorials/quickstart/
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Also use the code block structure like the other tutorials https://raw.githubusercontent.com/prl-mushr/mushr-website/master/content/tutorials/quickstart.md?token=ADLMJKARK26UBZHAJFYNJBK7TLC2S
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| - Once rviz is running, add the Robot Model as a topic to see a MuSHR car at (0,0,0), aka the center of the grid. | ||
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| 2. In another terminal window: |
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you don't have a queue_size param in your publisher which throws a warning. add queue_size=1 in your publisher creation to hide the warning
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| {{< figure src="/tutorials/people_detection/sample-inference.jpg" width="800" >}} | ||
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| 4. To see Marker Spheres representing the detected people and their relative poses to the car, please go to rviz |
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once I entered the frame an error stopped your code. looks like it is in the ppl_detect.py line 79.
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It looks like the projection matrix from image_geometry is empty....
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it was a subscriber issue, I'll explain after you make the launchfile.
| be able to see a green sphere that moves as the person moves in front of the camera. | ||
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| **NOTE**: Because the inference FPS is slower than the actual RealSense FPS, there is a slight delay in the workflow. | ||
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This is not taking in the car position, so if the car moves the markers will be off. We should add this. We subscribe to /pf/inferred_pose
tutorial of running people detection on mushr car, summer project by Adit Jha