simultanuous transform for tf for multi tracking [closed]

asked 2018-07-19 14:15:59 -0500

amal1 gravatar image

updated 2018-07-20 18:53:17 -0500

Hi ,

I will so grateful if you help me, I want to extract all 3d joints for all users detected . But my code give me the last transformed frame for multi users (joints of one user)and I want to do simultaneous transform for multi users. Thank you for advance .

  • Platform : ubuntu
  • ROS: kinetic
  • Package : openni_tracker

EDIT

Ok thank you for your time . this is my code can you please tell me where can I parse the transformations for all users .here if I have 2 users only right_hip_2 and other joints is transformed but right_hip_1 is not transformed . I hope it makes sense . This is my code:

int main(int argc, char** argv){

    ros::init(argc, argv, "tf_listener");

    string MAIN_FRAME_camera = "openni_depth_frame"; string MAIN_FRAME = "torso_1"; string FRAMES[] = {"head_", "neck_", "torso_", "left_shoulder_", "right_shoulder_", "left_hand_", "right_hand_", "left_elbow_", "right_elbow_", "left_hip_", "right_hip_", "left_knee_", "right_knee_", "left_foot_", "right_foot_"};

    ros::NodeHandle node;

    tf::TransformListener listener;

    ros::Rate rate(30.0);

    ofstream myfile; ofstream myfile2;

    if( remove("/home/amal/catkin_ws/src/isr_activity_recognition/test_torso.txt") != 0 || remove("/home/amal/catkin_ws/src/isr_activity_recognition/test_camera.txt") != 0) perror( "Error deleting file" ); else puts( "File successfully deleted" ); char last_char;

    while (node.ok()){ int contador = 0;

        while(listener.frameExists("torso_1")==0 && listener.frameExists("torso_2")==0 && listener.frameExists("torso_3")==0 && listener.frameExists("torso_4")==0 && listener.frameExists("torso_5")==0 && listener.frameExists("torso_6")==0 && listener.frameExists("torso_7")==0){
            ros::Duration(0.1).sleep();
            ROS_INFO("Waiting..."); 
        }
        myfile.open("/home/amal/catkin_ws/src/isr_activity_recognition/test_torso.txt", ios::app);
        myfile2.open("/home/amal/catkin_ws/src/isr_activity_recognition/test_camera.txt", ios::app);  
        vector <string> ids;
        listener.getFrameStrings(ids);  

        //while(contador==0){
        //ros::Duration(0.5).sleep();
        //listener.getFrameStrings(ids);
        for(vector<string>::iterator i = ids.begin(); i < ids.end(); i++){
            string elem = *i;
            if (strstr(elem.c_str(),"torso_") != NULL){
                contador++;
                cout << "Numero de pessoas: " << contador <<endl;
                last_char = elem[elem.length()-1];

            }  

        }

        MAIN_FRAME = "torso_" + boost::lexical_cast<std::string>(int(last_char)-'0');
        cout << "MAIN_FRAME: " << MAIN_FRAME <<endl;

        //FRAMES[i] = FRAMES[i] + boost::lexical_cast<std::string>(contador);

        //ros::Duration(5).sleep();  
        tf::StampedTransform tf_head;
        tf::StampedTransform tf_neck;
        tf::StampedTransform tf_torso;
        tf::StampedTransform tf_left_shoulder;
        tf::StampedTransform tf_right_shoulder;
        tf::StampedTransform tf_left_hand;
        tf::StampedTransform tf_right_hand;
        tf::StampedTransform tf_left_elbow;
        tf::StampedTransform tf_right_elbow;
        tf::StampedTransform tf_left_hip;
        tf::StampedTransform tf_right_hip;
        tf::StampedTransform tf_left_knee;
        tf::StampedTransform tf_right_knee;
        tf::StampedTransform tf_left_foot;
        tf::StampedTransform tf_right_foot;

        try{
            ros::Duration timeout(1.0 / 30);
            listener.waitForTransform("torso_1", "openni_depth_frame", ros::Time(0), timeout );
            // head
            // torso
            listener.waitForTransform(MAIN_FRAME,FRAMES[0]+ boost::lexical_cast<std::string>(int(last_char)-'0'), ros::Time(0), timeout );
            listener.lookupTransform(MAIN_FRAME, FRAMES[0]+ boost::lexical_cast<std::string>(int(last_char)-'0'), ros::Time(0), tf_head);

            double x_head = tf_head.getOrigin().x();
            double y_head = tf_head.getOrigin().y();
            double z_head = tf_head.getOrigin().z();

            double roll_head, pitch_head, yaw_head ;
            tf_head.getBasis().getRPY(roll_head, pitch_head, yaw_head);
            tf::Quaternion q_head = tf_head.getRotation();

            // camera
            listener.waitForTransform(MAIN_FRAME_camera,FRAMES[0]+ boost::lexical_cast<std::string>(int(last_char)-'0'), ros::Time(0), timeout );
            listener.lookupTransform(MAIN_FRAME_camera, FRAMES[0]+ boost::lexical_cast<std::string>(int(last_char)-'0'), ros::Time(0), tf_head);

            double x_head_camera = tf_head.getOrigin().x();
            double y_head_camera = tf_head.getOrigin().y();
            double z_head_camera = tf_head.getOrigin().z();

            double roll_head_camera ...
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Closed for the following reason duplicate question by jarvisschultz
close date 2018-07-23 14:20:44.680117

Comments

When running openni_tracker the /tf data to all joints for all tracked users is already provided. E.g., for user 1, you'd get a transform from openni_depth_frame to right_hip_1. By parsing all of these transforms, it sounds like you'd have exactly what you are asking for.

jarvisschultz gravatar imagejarvisschultz ( 2018-07-19 16:34:14 -0500 )edit
1

If you are looking for something else, I'd suggest re-phrasing your question to be more specific about what you need.

jarvisschultz gravatar imagejarvisschultz ( 2018-07-19 16:35:22 -0500 )edit

please take a look at the answer bellow because there is my code thank you Mr jarvisschultz.

amal1 gravatar imageamal1 ( 2018-07-20 11:59:06 -0500 )edit
1

Hi @amal1 you should not post answers that are not actually answers. If you need to add information, you should edit your original question. Also, when posting code snippets, please use the 101010 button to properly format your code. The way you posted it is unreadable. I fixed it for you this time.

jarvisschultz gravatar imagejarvisschultz ( 2018-07-20 18:54:05 -0500 )edit
1

You are unlikely to get anywhere posting enormous code snippets. For someone to help you they now must parse a huge amount of code. My advice is to try to boil your question down to one specific question, and try to come up with a simpler example demonstrating what is not working.

jarvisschultz gravatar imagejarvisschultz ( 2018-07-20 18:55:20 -0500 )edit

ok . I am sorry , I am new to this forum . I meant by posting code to be more specific I showed an example bellow . for example if I have 2 users to track my code only transform head_2 ,neck_2 etc.. and it doesn't transform the joints of the first user . Does this makes sense ?

amal1 gravatar imageamal1 ( 2018-07-21 03:48:07 -0500 )edit

Hi, my question is can I transform all frames tracked without losing users while new user is tracke, for example if there is frame head_1 is detected and then new user come my code only transform head_2 and forget the first even if the user is not lost . Can I transform both of the frames .Thank you

amal1 gravatar imageamal1 ( 2018-07-23 06:45:38 -0500 )edit

I'm closing this question because you opened another question that is slightly better described here. If you think this should be reopened, please describe your reasoning.

jarvisschultz gravatar imagejarvisschultz ( 2018-07-23 14:20:37 -0500 )edit