No Image Output

[JPhiDev]

Hello @Alpaca-zip and thank you for sharing your project.

Could you provide more direction on how someone should get started with your project? I am not sure if I am doing something wrong on my side, but I cannot get an output image produced. I am using a webcam.

I started:

1. roslaunch ultralytics_ros tracker.launch debug:=true
2. I started RVIZ and subscribed to image topic.

I do not receive an output image from any of the subscribed topics. RVIZ says "no image received."

Thank you for your help.

[Alpaca-zip]

Thank you @JPhiDev for your valuable report.

$ cd ~/catkin_ws/src
$ git clone -b noetic-devel https://github.com/Alpaca-zip/ultralytics_ros.git
$ python3 -m pip install -r ultralytics_ros/requirements.txt
$ cd ~/catkin_ws
$ rosdep install -r -y -i --from-paths .
$ catkin build

If the above setup completes and the following can be performed without error, the node is behaving correctly. $ roslaunch ultralytics_ros tracker.launch debug:=true

By default, tracker_node subscribes to a topic named image_raw of type sensor_msgs/Image. If the name of your image topic is different, please change the following line appropriately: https://github.com/Alpaca-zip/ultralytics_ros/blob/c6a1ba65ba4f5ef51391a65fd0bd190b9622e8a2/launch/tracker.launch#L5

The encoding of the image topic is confirmed to work with at least bgr8 and rgb8.

If you can provide more information, such as the encoding of the image topic you are trying to use and the rqt_graph when you run it, I can provide more detailed information.

Best regards,

[LinusNEP]

Hello @JPhiDev @Alpaca-zip I am having the same problem. I am using Intel Realsense Camera D435i (RGB-D). I changed the image topic, the camera info and the point cloud topic as you suggested above to correspond with the topics published by my camera, and still no output image was received.

[Alpaca-zip]

Hello! @LinusNEP Thank you for your report.

Please provide some of the following information to help me find the problem.

• What is the encoding(ex rgb8, bgr8) of the topic you are using?
• Does it output any errors when it is running?
• Please show me the rqt_graph as you are running it. It is possible that the topic you are using is not properly connected to the tracker_node.

Thank you.

[JPhiDev]

@Alpaca-zip @LinusNEP I am sorry for the late response, as I have been moving between projects...

I was able to get the tracker_node to run successfully by configuring my message topics correctly as @Alpaca-zip mentions above. I also was able to get the tracker_with_cloud_node working successfully using the KITTI dataset without docker.

Everything worked successfully on my end.

[LinusNEP]

Here is my tf_tree. I am using D435i camera which typically provides colour images in the BGR8 format. Also, there was no error when running. Thanks.

On Sat, 16 Sept 2023 at 22:37, JPhiDev @.***> wrote:

@Alpaca-zip https://github.com/Alpaca-zip @LinusNEP https://github.com/LinusNEP I am sorry for the late response, as I have been moving between projects...

I was able to get the tracker_node to run successfully by configuring my message topics correctly as @Alpaca-zip https://github.com/Alpaca-zip mentions above. I also was able to get the tracker_with_cloud_node working successfully using the KITTI dataset without docker.

Everything works successfully on my end.

— Reply to this email directly, view it on GitHub https://github.com/Alpaca-zip/ultralytics_ros/issues/21#issuecomment-1722311088, or unsubscribe https://github.com/notifications/unsubscribe-auth/AUUEIWNJVRDFCVP6OUDKJY3X2YEXBANCNFSM6AAAAAA4ASFMS4 . You are receiving this because you were mentioned.Message ID: @.***>

[Alpaca-zip]

Here is my tf_tree. I am using D435i camera which typically provides colour images in the BGR8 format. Also, there was no error when running. Thanks. … On Sat, 16 Sept 2023 at 22:37, JPhiDev @.> wrote: @Alpaca-zip https://github.com/Alpaca-zip @LinusNEP https://github.com/LinusNEP I am sorry for the late response, as I have been moving between projects... I was able to get the tracker_node to run successfully by configuring my message topics correctly as @Alpaca-zip https://github.com/Alpaca-zip mentions above. I also was able to get the tracker_with_cloud_node working successfully using the KITTI dataset without docker. Everything works successfully on my end. — Reply to this email directly, view it on GitHub <#21 (comment)>, or unsubscribe https://github.com/notifications/unsubscribe-auth/AUUEIWNJVRDFCVP6OUDKJY3X2YEXBANCNFSM6AAAAAA4ASFMS4 . You are receiving this because you were mentioned.Message ID: @.>

@LinusNEP There is no TF-related processing in tracker_node. Therefore, looking at the tf_tree alone is not going to solve this problem. The problem I am concerned about is that the topic you publish is not connected to the tracker_node, is there a proper connection on rqt_graph?

Thank you.