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sensorTrack/Kinect01

Tobix99
Mar 19th, 2019
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  1. root@Ubuntu-kinect-1:~# roslaunch detection detection_node_kinect01.launch
  2. ... logging to /root/.ros/log/0fd0bd88-4a22-11e9-9bf1-b8ca3a9cf7b1/roslaunch-Ubuntu-kinect-1-403.log
  3. Checking log directory for disk usage. This may take awhile.
  4. Press Ctrl-C to interrupt
  5. Done checking log file disk usage. Usage is <1GB.
  6.  
  7. started roslaunch server http://172.30.3.30:44279/
  8.  
  9. SUMMARY
  10. ========
  11.  
  12. PARAMETERS
  13. * /kinect01_bridge/analog_gain: 2.0
  14. * /kinect01_bridge/base_name: kinect01
  15. * /kinect01_bridge/base_name_tf: kinect01
  16. * /kinect01_bridge/bilateral_filter: True
  17. * /kinect01_bridge/calib_path: /root/workspace/r...
  18. * /kinect01_bridge/depth_device: -1
  19. * /kinect01_bridge/depth_method: default
  20. * /kinect01_bridge/edge_aware_filter: True
  21. * /kinect01_bridge/exposure_compensation: 0.0
  22. * /kinect01_bridge/exposure_method: 0
  23. * /kinect01_bridge/fps_limit: -1.0
  24. * /kinect01_bridge/integration_time_ms: 33.0
  25. * /kinect01_bridge/jpeg_quality: 90
  26. * /kinect01_bridge/max_depth: 12.0
  27. * /kinect01_bridge/min_depth: 0.1
  28. * /kinect01_bridge/png_level: 1
  29. * /kinect01_bridge/pseudo_exposure_time_ms: 33.0
  30. * /kinect01_bridge/publish_tf: True
  31. * /kinect01_bridge/queue_size: 5
  32. * /kinect01_bridge/reg_device: -1
  33. * /kinect01_bridge/reg_method: default
  34. * /kinect01_bridge/respawn: True
  35. * /kinect01_bridge/sensor:
  36. * /kinect01_bridge/start_manager": True
  37. * /kinect01_bridge/use_machine: True
  38. * /kinect01_bridge/use_nodelet": True
  39. * /kinect01_bridge/use_png: False
  40. * /kinect01_bridge/worker_threads: 4
  41. * /kinect01_points_xyzrgb_hd/queue_size: 5
  42. * /kinect01_points_xyzrgb_qhd/queue_size: 5
  43. * /kinect01_points_xyzrgb_sd/queue_size: 5
  44. * /kinect01_yolo_detector_node/camera_info_topic: /kinect01/rgb_low...
  45. * /kinect01_yolo_detector_node/data_cfg: /root/workspace/r...
  46. * /kinect01_yolo_detector_node/depth_image_topic: /kinect01/depth_l...
  47. * /kinect01_yolo_detector_node/encoding_type: 32FC1
  48. * /kinect01_yolo_detector_node/heir_thresh: 0.5
  49. * /kinect01_yolo_detector_node/in_mm: 1
  50. * /kinect01_yolo_detector_node/output_topic: /detector/detections
  51. * /kinect01_yolo_detector_node/rgb_image_topic: /kinect01/rgb_low...
  52. * /kinect01_yolo_detector_node/root: /root/workspace/r...
  53. * /kinect01_yolo_detector_node/thresh: 0.25
  54. * /kinect01_yolo_detector_node/weight_file: /root/workspace/r...
  55. * /kinect01_yolo_detector_node/yolo_cfg: /root/workspace/r...
  56. * /kinect01_yolo_object_detector_node/camera_info_topic: /kinect01/sd/came...
  57. * /kinect01_yolo_object_detector_node/data_cfg: /root/workspace/r...
  58. * /kinect01_yolo_object_detector_node/depth_image_topic: /kinect01/sd/imag...
  59. * /kinect01_yolo_object_detector_node/encoding_type: 32FC1
  60. * /kinect01_yolo_object_detector_node/hier_thresh: 0.5
  61. * /kinect01_yolo_object_detector_node/in_mm: 1
  62. * /kinect01_yolo_object_detector_node/median_factor: 0.3
  63. * /kinect01_yolo_object_detector_node/name_file: /root/workspace/r...
  64. * /kinect01_yolo_object_detector_node/output_topic: /objects_detector...
  65. * /kinect01_yolo_object_detector_node/rgb_image_topic: /kinect01/sd/imag...
  66. * /kinect01_yolo_object_detector_node/root: /root/workspace/r...
  67. * /kinect01_yolo_object_detector_node/thresh: 0.4
  68. * /kinect01_yolo_object_detector_node/weight_file: /root/workspace/r...
  69. * /kinect01_yolo_object_detector_node/world_frame_id: /world
  70. * /kinect01_yolo_object_detector_node/yolo_cfg: /root/workspace/r...
  71. * /rosdistro: kinetic
  72. * /rosversion: 1.12.14
  73. * /rtpose_kinect01/caffe_model: /root/workspace/r...
  74. * /rtpose_kinect01/caffe_proto: /root/workspace/r...
  75. * /rtpose_kinect01/camera_index: 0
  76. * /rtpose_kinect01/camera_info_topic: /kinect01/qhd/cam...
  77. * /rtpose_kinect01/camera_resolution:
  78. * /rtpose_kinect01/depth_topic: /kinect01/qhd/ima...
  79. * /rtpose_kinect01/fullscreen: False
  80. * /rtpose_kinect01/head_correction_param: 0.6
  81. * /rtpose_kinect01/head_joint_enhancement: False
  82. * /rtpose_kinect01/image_dir:
  83. * /rtpose_kinect01/marker_topic_to_publish: /detector/skeleto...
  84. * /rtpose_kinect01/max_size_input_queue: 1
  85. * /rtpose_kinect01/minimum_number_of_valid_3D_joints: 8
  86. * /rtpose_kinect01/net_resolution: 656x368
  87. * /rtpose_kinect01/no_display: True
  88. * /rtpose_kinect01/no_frame_drops: False
  89. * /rtpose_kinect01/noise_threshold: 0.8
  90. * /rtpose_kinect01/num_gpu: 1
  91. * /rtpose_kinect01/num_scales: 1
  92. * /rtpose_kinect01/part_to_show: 0
  93. * /rtpose_kinect01/raw_skeleton_image_on_topic: True
  94. * /rtpose_kinect01/raw_skeleton_image_topic_to_publish: /detector/skeleto...
  95. * /rtpose_kinect01/resolution:
  96. * /rtpose_kinect01/rgb_topic: /kinect01/qhd/ima...
  97. * /rtpose_kinect01/scale_gap: 0.3
  98. * /rtpose_kinect01/skeleton_color_b: 0.0
  99. * /rtpose_kinect01/skeleton_color_g: 1.0
  100. * /rtpose_kinect01/skeleton_color_r: 1.0
  101. * /rtpose_kinect01/skeleton_solid_color: True
  102. * /rtpose_kinect01/skeleton_topic_to_publish: /detector/skeletons
  103. * /rtpose_kinect01/start_device: 0
  104. * /rtpose_kinect01/start_frame: 0
  105. * /rtpose_kinect01/start_scale: 1
  106. * /rtpose_kinect01/video:
  107. * /rtpose_kinect01/write_frames: False
  108. * /rtpose_kinect01/write_json:
  109.  
  110. NODES
  111. /
  112. kinect01 (nodelet/nodelet)
  113. kinect01_base_link (tf/static_transform_publisher)
  114. kinect01_base_link1 (tf/static_transform_publisher)
  115. kinect01_base_link2 (tf/static_transform_publisher)
  116. kinect01_base_link3 (tf/static_transform_publisher)
  117. kinect01_bridge (nodelet/nodelet)
  118. kinect01_points_xyzrgb_hd (nodelet/nodelet)
  119. kinect01_points_xyzrgb_qhd (nodelet/nodelet)
  120. kinect01_points_xyzrgb_sd (nodelet/nodelet)
  121. kinect01_yolo_detector_node (yolo_detector/open_ptrack_yolo_detector_node)
  122. kinect01_yolo_object_detector_node (yolo_detector/open_ptrack_yolo_object_detector_node)
  123. rtpose_kinect01 (rtpose_wrapper/rtpose)
  124.  
  125. ROS_MASTER_URI=http://172.30.3.31:11311/
  126.  
  127. process[kinect01_base_link-1]: started with pid [412]
  128. process[kinect01_base_link1-2]: started with pid [413]
  129. process[kinect01_base_link2-3]: started with pid [421]
  130. process[kinect01_base_link3-4]: started with pid [426]
  131. process[kinect01-5]: started with pid [431]
  132. [ INFO] [1552984661.275435882]: Initializing nodelet with 8 worker threads.
  133. process[kinect01_bridge-6]: started with pid [433]
  134. [ INFO] [1552984661.533558075]: Loading nodelet /kinect01_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect01 with the following remappings:
  135. [ INFO] [1552984661.624987664]: [Kinect2Bridge::initialize] parameter:
  136. base_name: kinect01
  137. sensor: default
  138. fps_limit: -1
  139. calib_path: /root/workspace/ros/src/iai_kinect2/kinect2_bridge/data/
  140. use_png: false
  141. jpeg_quality: 90
  142. png_level: 1
  143. depth_method: default
  144. depth_device: -1
  145. reg_method: default
  146. reg_device: -1
  147. max_depth: 12
  148. min_depth: 0.1
  149. queue_size: 5
  150. bilateral_filter: true
  151. edge_aware_filter: true
  152. publish_tf: true
  153. base_name_tf: kinect01
  154. worker_threads: 4
  155. exposure_method0
  156. exposure_compensation0
  157. pseudo_exposure_time_ms33
  158. pseudo_exposure_time_ms33
  159. integration_time_ms33
  160.  
  161. [Info] [CudaDepthPacketProcessorImpl] device 0: Quadro P6000 @ 1645MHz Memory 24448MB
  162. [Info] [CudaDepthPacketProcessorImpl] selected device 0
  163. [Info] [Freenect2Impl] enumerating devices...
  164. [Info] [Freenect2Impl] 9 usb devices connected
  165. [Info] [Freenect2Impl] found valid Kinect v2 @4:3 with serial 000584464347
  166. [Info] [Freenect2Impl] found 1 devices
  167. [ INFO] [1552984661.756247565]: [Kinect2Bridge::initDevice] Kinect2 devices found:
  168. [ INFO] [1552984661.756289045]: [Kinect2Bridge::initDevice] 0: 000584464347 (selected)
  169. process[kinect01_points_xyzrgb_sd-7]: started with pid [448]
  170. [Info] [Freenect2DeviceImpl] opening...
  171. [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20*16384 ir: 60*8*33792
  172. [Info] [Freenect2DeviceImpl] opened
  173. [ INFO] [1552984661.860342010]: [Kinect2Bridge::initDevice] starting kinect2
  174. [Info] [Freenect2DeviceImpl] starting...
  175. process[kinect01_points_xyzrgb_qhd-8]: started with pid [460]
  176. [Info] [Freenect2DeviceImpl] submitting rgb transfers...
  177. [Info] [Freenect2DeviceImpl] submitting depth transfers...
  178. [Info] [Freenect2DeviceImpl] started
  179. [ INFO] [1552984662.181309847]: [Kinect2Bridge::initDevice] device serial: 000584464347
  180. [ INFO] [1552984662.181384600]: [Kinect2Bridge::initDevice] device firmware: 4.0.3916.0
  181. [Info] [Freenect2DeviceImpl] stopping...
  182. [Info] [Freenect2DeviceImpl] canceling rgb transfers...
  183. process[kinect01_points_xyzrgb_hd-9]: started with pid [465]
  184. ERROR: cannot launch node of type [yolo_detector/open_ptrack_yolo_detector_node]: can't locate node [open_ptrack_yolo_detector_node] in package [yolo_detector]
  185. [Info] [Freenect2DeviceImpl] canceling depth transfers...
  186. [Info] [Freenect2DeviceImpl] stopped
  187. [ INFO] [1552984662.580931366]: [DepthRegistration::New] Using OpenCL registration method!
  188. [ INFO] [1552984662.581006675]: [DepthRegistration::New] Using OpenCL registration method!
  189. [ INFO] [1552984662.588859024]: [DepthRegistrationOpenCL::init] devices:
  190. [ INFO] [1552984662.589042210]: [DepthRegistrationOpenCL::init] 0: Quadro P6000
  191. [ INFO] [1552984662.589138843]: [DepthRegistrationOpenCL::init] selected device: Quadro P6000
  192. [ INFO] [1552984662.700422240]: [DepthRegistrationOpenCL::init] devices:
  193. [ INFO] [1552984662.700551359]: [DepthRegistrationOpenCL::init] 0: Quadro P6000
  194. [ INFO] [1552984662.700634831]: [DepthRegistrationOpenCL::init] selected device: Quadro P6000
  195. process[rtpose_kinect01-11]: started with pid [474]
  196. [ INFO] [1552984662.908842872]: [Kinect2Bridge::main] waiting for clients to connect
  197. process[kinect01_yolo_object_detector_node-12]: started with pid [483]
  198. layer filters size input output
  199. 0 [ INFO] [1552984663.270254094]: No subscriber to skeletons and/or no publisher for input topics, waiting....
  200. [ INFO] [1552984663.320256539]: No subscriber to skeletons and/or no publisher for input topics, waiting....
  201. [ INFO] [1552984663.370241928]: No subscriber to skeletons and/or no publisher for input topics, waiting....
  202. [ INFO] [1552984663.420246382]: No subscriber to skeletons and/or no publisher for input topics, waiting....
  203. [ INFO] [1552984663.470222264]: No subscriber to skeletons and/or no publisher for input topics, waiting....
  204. [ INFO] [1552984663.520251452]: No subscriber to skeletons and/or no publisher for input topics, waiting....
  205. [ INFO] [1552984663.528822437]: [Kinect2Bridge::callbackStatus] client connected. starting device...
  206. [Info] [Freenect2DeviceImpl] starting...
  207. [ INFO] [1552984663.570773164]: I am beginning to stream skeletons...
  208. conv 32 3 x 3 / 1 416 x 416 x 3 -> 416 x 416 x 32
  209. 1 max 2 x 2 / 2 416 x 416 x 32 -> 208 x 208 x 32
  210. 2 conv 64 3 x 3 / 1 208 x 208 x 32 -> 208 x 208 x 64
  211. 3 max 2 x 2 / 2 208 x 208 x 64 -> 104 x 104 x 64
  212. 4 conv 128 3 x 3 / 1 104 x 104 x 64 -> 104 x 104 x 128
  213. 5 conv 64 1 x 1 / 1 104 x 104 x 128 -> 104 x 104 x 64
  214. 6 conv 128 3 x 3 / 1 104 x 104 x 64 -> 104 x 104 x 128
  215. 7 max 2 x 2 / 2 104 x 104 x 128 -> 52 x 52 x 128
  216. 8 conv 256 3 x 3 / 1 52 x 52 x 128 -> 52 x 52 x 256
  217. 9 conv 128 1 x 1 / 1 52 x 52 x 256 -> 52 x 52 x 128
  218. 10 [Info] [Freenect2DeviceImpl] submitting rgb transfers...
  219. [Info] [Freenect2DeviceImpl] started
  220. [Info] [Freenect2DeviceImpl] stopping...
  221. [Info] [Freenect2DeviceImpl] canceling rgb transfers...
  222. conv 256 3 x 3 / 1 52 x 52 x 128 -> 52 x 52 x 256
  223. 11 max 2 x 2 / 2 52 x 52 x 256 -> 26 x 26 x 256
  224. 12 [Info] [Freenect2DeviceImpl] stopped
  225. [Info] [Freenect2DeviceImpl] starting...
  226. conv 512 3 x 3 / 1 26 x 26 x 256 -> 26 x 26 x 512
  227. 13 [Info] [Freenect2DeviceImpl] submitting rgb transfers...
  228. [Info] [Freenect2DeviceImpl] submitting depth transfers...
  229. [Info] [Freenect2DeviceImpl] started
  230. conv 256 1 x 1 / 1 26 x 26 x 512 -> 26 x 26 x 256
  231. 14 [Info] [DepthPacketStreamParser] -14 packets were lost
  232. [Info] [RgbPacketStreamParser] packetsize or sequence doesn't match!
  233. conv 512 3 x 3 / 1 26 x 26 x 256 -> 26 x 26 x 512
  234. 15 conv 256 1 x 1 / 1 26 x 26 x 512 -> 26 x 26 x 256
  235. 16 conv 512 3 x 3 / 1 26 x 26 x 256 -> 26 x 26 x 512
  236. 17 max 2 x 2 / 2 26 x 26 x 512 -> 13 x 13 x 512
  237. 18 conv 1024 3 x 3 / 1 13 x 13 x 512 -> 13 x 13 x1024
  238. 19 conv 512 1 x 1 / 1 13 x 13 x1024 -> 13 x 13 x 512
  239. 20 conv 1024 3 x 3 / 1 13 x 13 x 512 -> 13 x 13 x1024
  240. 21 conv 512 1 x 1 / 1 13 x 13 x1024 -> 13 x 13 x 512
  241. 22 conv 1024 3 x 3 / 1 13 x 13 x 512 -> 13 x 13 x1024
  242. 23 [ INFO] [1552984666.860167441]: [Kinect2Bridge::main] depth processing: ~1.68924ms (~591.982Hz) publishing rate: ~27.6507Hz
  243. [ INFO] [1552984666.860234321]: [Kinect2Bridge::main] color processing: ~4.63143ms (~215.916Hz) publishing rate: ~22.6536Hz
  244. [Info] [CudaDepthPacketProcessor] avg. time: 1.23426ms -> ~810.202Hz
  245. [Info] [TurboJpegRgbPacketProcessor] avg. time: 18.9639ms -> ~52.7318Hz
  246. conv 1024 3 x 3 / 1 13 x 13 x1024 -> 13 x 13 x1024
  247. 24 conv 1024 3 x 3 / 1 13 x 13 x1024 -> 13 x 13 x1024
  248. 25 route 16
  249. 26 [ WARN] [1552984669.742934481]: rtpose TODO: define confidence, height, distance and occluded policy
  250. conv 64 1 x 1 / 1 26 x 26 x 512 -> 26 x 26 x 64
  251. 27 reorg / 2 26 x 26 x 64 -> 13 x 13 x 256
  252. 28 route 27 24
  253. 29 [ INFO] [1552984669.863635370]: [Kinect2Bridge::main] depth processing: ~2.91329ms (~343.255Hz) publishing rate: ~29.9653Hz
  254. [ INFO] [1552984669.863708239]: [Kinect2Bridge::main] color processing: ~4.56463ms (~219.076Hz) publishing rate: ~29.9653Hz
  255. [Info] [CudaDepthPacketProcessor] avg. time: 3.42183ms -> ~292.241Hz
  256. [Info] [TurboJpegRgbPacketProcessor] avg. time: 20.1624ms -> ~49.5973Hz
  257. conv 1024 3 x 3 / 1 13 x 13 x1280 -> 13 x 13 x1024
  258. 30 conv 425 1 x 1 / 1 13 x 13 x1024 -> 13 x 13 x 425
  259. 31 detection
  260. mask_scale: Using default '1.000000'
  261. Loading weights from /root/workspace/ros/src/open_ptrack/yolo_detector/darknet_opt/coco.weights...exitDone!
  262. /root/workspace/ros/src/open_ptrack/yolo_detector/data
  263. YOLO Set UP - objects
  264. thresh:0.4 hier_thresh0.5
  265. Adjusting Parameters
  266. thresh:0.4 hier_thresh:0.5 median_factor:0.1
  267. [ INFO] [1552984672.871536901]: [Kinect2Bridge::main] depth processing: ~2.81839ms (~354.812Hz) publishing rate: ~30.2536Hz
  268. [ INFO] [1552984672.871595227]: [Kinect2Bridge::main] color processing: ~4.79288ms (~208.643Hz) publishing rate: ~30.2536Hz
  269. Yolo object count = 2
  270. Yolo detection time: 0.0626047
  271. Yolo object count = 2
  272. Yolo detection time: 0.0591352
  273. Yolo object count = 2
  274. Yolo detection time: 0.0582764
  275. Yolo object count = 3
  276. Yolo detection time: 0.0496078
  277. Yolo object count = 2
  278. Yolo detection time: 0.0526869
  279. Yolo object count = 2
  280. Yolo detection time: 0.0412333
  281. Yolo object count = 3
  282. Yolo detection time: 0.050597
  283. Yolo object count = 2
  284. Yolo detection time: 0.0507307
  285. Yolo object count = 2
  286. Yolo detection time: 0.0512054
  287. Yolo object count = 2
  288. Yolo detection time: 0.0507755
  289. Yolo object count = 3
  290. Yolo detection time: 0.0395629
  291. Yolo object count = 2
  292. Yolo detection time: 0.0509462
  293. Yolo object count = 1
  294. Yolo detection time: 0.0455418
  295. Yolo object count = 1
  296. Yolo detection time: 0.0507822
  297. Yolo object count = 1
  298. Yolo detection time: 0.052541
  299. Yolo object count = 2
  300. Yolo detection time: 0.0445552
  301. [Info] [CudaDepthPacketProcessor] avg. time: 3.92068ms -> ~255.057Hz
  302. Yolo object count = 1
  303. Yolo detection time: 0.0487561
  304. Yolo object count = 2
  305. Yolo detection time: 0.0476463
  306. Yolo object count = 2
  307. Yolo detection time: 0.0500212
  308. Yolo object count = 2
  309. Yolo detection time: 0.0504949
  310. Yolo object count = 2
  311. Yolo detection time: 0.0437689
  312. Yolo object count = 2
  313. Yolo detection time: 0.048646
  314. Yolo object count = 2
  315. Yolo detection time: 0.0432699
  316. Yolo object count = 3
  317. Yolo detection time: 0.0476739
  318. Yolo object count = 2
  319. Yolo detection time: 0.045337
  320. Yolo object count = 2
  321. Yolo detection time: 0.0477009
  322. Yolo object count = 3
  323. Yolo detection time: 0.0504191
  324. Yolo object count = 2
  325. Yolo detection time: 0.0444701
  326. Yolo object count = 2
  327. Yolo detection time: 0.0554981
  328. Yolo object count = 2
  329. Yolo detection time: 0.0552762
  330. [Info] [TurboJpegRgbPacketProcessor] avg. time: 19.7296ms -> ~50.6851Hz
  331. Yolo object count = 3
  332. Yolo detection time: 0.0466561
  333. Yolo object count = 2
  334. Yolo detection time: 0.0499356
  335. Yolo object count = 3
  336. Yolo detection time: 0.0442097
  337. Yolo object count = 3
  338. Yolo detection time: 0.0498366
  339. Yolo object count = 3
  340. Yolo detection time: 0.0438144
  341. Yolo object count = 3
  342. Yolo detection time: 0.0511448
  343. Yolo object count = 2
  344. Yolo detection time: 0.0514503
  345. Yolo object count = 2
  346. Yolo detection time: 0.0460963
  347. Yolo object count = 2
  348. Yolo detection time: 0.0519571
  349. Yolo object count = 3
  350. Yolo detection time: 0.0480266
  351. Yolo object count = 3
  352. Yolo detection time: 0.0480719
  353. Yolo object count = 3
  354. Yolo detection time: 0.0514059
  355. Yolo object count = 3
  356. Yolo detection time: 0.0467136
  357. Yolo object count = 2
  358. Yolo detection time: 0.0523307
  359. Yolo object count = 2
  360. Yolo detection time: 0.047122
  361. Yolo object count = 2
  362. Yolo detection time: 0.0525331
  363. Yolo object count = 2
  364. Yolo detection time: 0.0548835
  365. Yolo object count = 2
  366. Yolo detection time: 0.03915
  367. Yolo object count = 3
  368. Yolo detection time: 0.0547988
  369. Yolo object count = 2
  370. Yolo detection time: 0.0493274
  371. Yolo object count = 3
  372. Yolo detection time: 0.0468223
  373. Yolo object count = 2
  374. Yolo detection time: 0.0533104
  375. Yolo object count = 3
  376. Yolo detection time: 0.0423214
  377. Yolo object count = 2
  378. Yolo detection time: 0.0489876
  379. Yolo object count = 2
  380. Yolo detection time: 0.0395482
  381. Yolo object count = 2
  382. Yolo detection time: 0.0507696
  383. Yolo object count = 2
  384. Yolo detection time: 0.0476313
  385. [ INFO] [1552984675.874211368]: [Kinect2Bridge::main] depth processing: ~13.8893ms (~71.9981Hz) publishing rate: ~29.9732Hz
  386. [ INFO] [1552984675.874265937]: [Kinect2Bridge::main] color processing: ~9.1552ms (~109.228Hz) publishing rate: ~29.9732Hz
  387. Yolo object count = 2
  388. Yolo detection time: 0.0505114
  389. Yolo object count = 2
  390. Yolo detection time: 0.0529084
  391. Yolo object count = 2
  392. Yolo detection time: 0.0399959
  393. Yolo object count = 2
  394. Yolo detection time: 0.0524826
  395. Yolo object count = 3
  396. Yolo detection time: 0.047997
  397. Yolo object count = 2
  398. Yolo detection time: 0.0476823
  399. Yolo object count = 2
  400. Yolo detection time: 0.0521505
  401. Yolo object count = 2
  402. Yolo detection time: 0.0455661
  403. Yolo object count = 2
  404. Yolo detection time: 0.0565212
  405. Yolo object count = 2
  406. Yolo detection time: 0.0477386
  407. Yolo object count = 2
  408. Yolo detection time: 0.0472732
  409. Yolo object count = 2
  410. Yolo detection time: 0.0530164
  411. Yolo object count = 2
  412. Yolo detection time: 0.0459063
  413. Yolo object count = 2
  414. Yolo detection time: 0.0516002
  415. Yolo object count = 2
  416. Yolo detection time: 0.0455394
  417. Yolo object count = 2
  418. Yolo detection time: 0.0470455
  419. Yolo object count = 2
  420. Yolo detection time: 0.0519171
  421. Yolo object count = 2
  422. Yolo detection time: 0.0424969
  423. Yolo object count = 2
  424. Yolo detection time: 0.048763
  425. Yolo object count = 2
  426. Yolo detection time: 0.0395467
  427. Yolo object count = 2
  428. Yolo detection time: 0.0548465
  429. Yolo object count = 2
  430. Yolo detection time: 0.0465724
  431. Yolo object count = 2
  432. Yolo detection time: 0.048455
  433. Yolo object count = 3
  434. Yolo detection time: 0.052202
  435. Yolo object count = 2
  436. Yolo detection time: 0.0460961
  437. Yolo object count = 2
  438. Yolo detection time: 0.0525935
  439. Yolo object count = 2
  440. Yolo detection time: 0.0457563
  441. [Info] [CudaDepthPacketProcessor] avg. time: 4.52214ms -> ~221.134Hz
  442. Yolo object count = 2
  443. Yolo detection time: 0.0498178
  444. Yolo object count = 2
  445. Yolo detection time: 0.0531328
  446. Yolo object count = 2
  447. Yolo detection time: 0.0452123
  448. Yolo object count = 2
  449. Yolo detection time: 0.050715
  450. Yolo object count = 2
  451. Yolo detection time: 0.0513916
  452. Yolo object count = 2
  453. Yolo detection time: 0.0488532
  454. Yolo object count = 2
  455. Yolo detection time: 0.0521693
  456. Yolo object count = 2
  457. Yolo detection time: 0.0449584
  458. Yolo object count = 2
  459. Yolo detection time: 0.0490744
  460. Yolo object count = 2
  461. Yolo detection time: 0.0439785
  462. Yolo object count = 2
  463. Yolo detection time: 0.0478616
  464. Yolo object count = 3
  465. Yolo detection time: 0.0518064
  466. Yolo object count = 2
  467. Yolo detection time: 0.04263
  468. Yolo object count = 2
  469. Yolo detection time: 0.0509396
  470. [Info] [TurboJpegRgbPacketProcessor] avg. time: 19.7902ms -> ~50.5301Hz
  471. Yolo object count = 2
  472. Yolo detection time: 0.0423265
  473. Yolo object count = 2
  474. Yolo detection time: 0.0537364
  475. Yolo object count = 2
  476. Yolo detection time: 0.0517735
  477. Yolo object count = 2
  478. Yolo detection time: 0.0489037
  479. Yolo object count = 2
  480. Yolo detection time: 0.052597
  481. Yolo object count = 2
  482. Yolo detection time: 0.041671
  483. Yolo object count = 2
  484. Yolo detection time: 0.0488877
  485. Yolo object count = 2
  486. Yolo detection time: 0.0449398
  487. Yolo object count = 2
  488. Yolo detection time: 0.0491505
  489. Yolo object count = 2
  490. Yolo detection time: 0.0527785
  491. Yolo object count = 2
  492. Yolo detection time: 0.0497415
  493. Yolo object count = 2
  494. Yolo detection time: 0.0512881
  495. Yolo object count = 2
  496. Yolo detection time: 0.0445335
  497. Yolo object count = 2
  498. Yolo detection time: 0.0480785
  499. Yolo object count = 2
  500. Yolo detection time: 0.0507212
  501. Yolo object count = 2
  502. Yolo detection time: 0.0448375
  503. Yolo object count = 2
  504. Yolo detection time: 0.0502286
  505. Yolo object count = 2
  506. Yolo detection time: 0.0392253
  507. Yolo object count = 0
  508. Yolo detection time: 0.0547194
  509. Yolo object count = 1
  510. Yolo detection time: 0.0459464
  511. [ INFO] [1552984678.880073632]: [Kinect2Bridge::main] depth processing: ~13.3985ms (~74.6352Hz) publishing rate: ~29.9415Hz
  512. [ INFO] [1552984678.880137325]: [Kinect2Bridge::main] color processing: ~8.83608ms (~113.172Hz) publishing rate: ~29.9415Hz
  513. Yolo object count = 1
  514. Yolo detection time: 0.0465734
  515. Yolo object count = 1
  516. Yolo detection time: 0.0532882
  517. Yolo object count = 1
  518. Yolo detection time: 0.0448852
  519. Yolo object count = 1
  520. Yolo detection time: 0.0551598
  521. Yolo object count = 1
  522. Yolo detection time: 0.0501134
  523. Yolo object count = 1
  524. Yolo detection time: 0.048254
  525. Yolo object count = 2
  526. Yolo detection time: 0.055474
  527. Yolo object count = 1
  528. Yolo detection time: 0.0394888
  529. Yolo object count = 2
  530. Yolo detection time: 0.0529921
  531. Yolo object count = 2
  532. Yolo detection time: 0.0568831
  533. Yolo object count = 1
  534. Yolo detection time: 0.0456214
  535. Yolo object count = 1
  536. Yolo detection time: 0.0490937
  537. Yolo object count = 1
  538. Yolo detection time: 0.039551
  539. Yolo object count = 2
  540. Yolo detection time: 0.0527039
  541. Yolo object count = 1
  542. Yolo detection time: 0.053853
  543. Yolo object count = 1
  544. Yolo detection time: 0.0536473
  545. Yolo object count = 3
  546. Yolo detection time: 0.0563836
  547. Yolo object count = 1
  548. Yolo detection time: 0.0445764
  549. Yolo object count = 0
  550. Yolo detection time: 0.0475693
  551. Yolo object count = 1
  552. Yolo detection time: 0.0498219
  553. Yolo object count = 2
  554. Yolo detection time: 0.043215
  555. Yolo object count = 0
  556. Yolo detection time: 0.0494421
  557. Yolo object count = 1
  558. Yolo detection time: 0.0400798
  559. Yolo object count = 2
  560. Yolo detection time: 0.0535359
  561. Yolo object count = 1
  562. Yolo detection time: 0.0451961
  563. Yolo object count = 1
  564. Yolo detection time: 0.0514007
  565. Yolo object count = 1
  566. Yolo detection time: 0.0555363
  567. Yolo object count = 1
  568. Yolo detection time: 0.0511758
  569. Yolo object count = 1
  570. Yolo detection time: 0.0508132
  571. Yolo object count = 1
  572. Yolo detection time: 0.0504248
  573. Yolo object count = 2
  574. Yolo detection time: 0.0454006
  575. Yolo object count = 0
  576. Yolo detection time: 0.0553451
  577. Yolo object count = 1
  578. Yolo detection time: 0.0451939
  579. [Info] [CudaDepthPacketProcessor] avg. time: 4.32727ms -> ~231.093Hz
  580. Yolo object count = 0
  581. Yolo detection time: 0.0478499
  582. Yolo object count = 1
  583. Yolo detection time: 0.0496249
  584. Yolo object count = 1
  585. Yolo detection time: 0.0438704
  586. Yolo object count = 0
  587. Yolo detection time: 0.0542874
  588. Yolo object count = 1
  589. Yolo detection time: 0.0456786
  590. Yolo object count = 1
  591. Yolo detection time: 0.0510585
  592. Yolo object count = 1
  593. Yolo detection time: 0.0518773
  594. Yolo object count = 1
  595. Yolo detection time: 0.0435927
  596. Yolo object count = 1
  597. Yolo detection time: 0.0551596
  598. Yolo object count = 1
  599. Yolo detection time: 0.0494835
  600. Yolo object count = 1
  601. Yolo detection time: 0.0506072
  602. Yolo object count = 1
  603. Yolo detection time: 0.0506198
  604. Yolo object count = 1
  605. Yolo detection time: 0.0396011
  606. Yolo object count = 2
  607. Yolo detection time: 0.0536473
  608. [Info] [TurboJpegRgbPacketProcessor] avg. time: 20.1661ms -> ~49.5881Hz
  609. Yolo object count = 1
  610. Yolo detection time: 0.0452015
  611. Yolo object count = 0
  612. Yolo detection time: 0.0467215
  613. Yolo object count = 0
  614. Yolo detection time: 0.0496287
  615. Yolo object count = 1
  616. Yolo detection time: 0.0417013
  617. Yolo object count = 1
  618. Yolo detection time: 0.054534
  619. Yolo object count = 1
  620. Yolo detection time: 0.0554001
  621. Yolo object count = 1
  622. Yolo detection time: 0.0462043
  623. Yolo object count = 1
  624. Yolo detection time: 0.0506558
  625. Yolo object count = 1
  626. Yolo detection time: 0.0462689
  627. Yolo object count = 1
  628. Yolo detection time: 0.0506012
  629. Yolo object count = 0
  630. Yolo detection time: 0.0437496
  631. Yolo object count = 1
  632. Yolo detection time: 0.0475371
  633. Yolo object count = 2
  634. Yolo detection time: 0.0492983
  635. Yolo object count = 1
  636. Yolo detection time: 0.0477848
  637. [ INFO] [1552984681.890181181]: [Kinect2Bridge::main] depth processing: ~14.6301ms (~68.3524Hz) publishing rate: ~29.8993Hz
  638. [ INFO] [1552984681.890250680]: [Kinect2Bridge::main] color processing: ~9.74078ms (~102.661Hz) publishing rate: ~29.8993Hz
  639. Yolo object count = 1
  640. Yolo detection time: 0.0525498
  641. Yolo object count = 1
  642. Yolo detection time: 0.0424895
  643. Yolo object count = 1
  644. Yolo detection time: 0.0479112
  645. Yolo object count = 1
  646. Yolo detection time: 0.0507865
  647. Yolo object count = 1
  648. Yolo detection time: 0.0440717
  649. Yolo object count = 1
  650. Yolo detection time: 0.0537858
  651. Yolo object count = 1
  652. Yolo detection time: 0.0421367
  653. Yolo object count = 1
  654. Yolo detection time: 0.051481
  655. Yolo object count = 1
  656. Yolo detection time: 0.0500247
  657. Yolo object count = 1
  658. Yolo detection time: 0.0430057
  659. Yolo object count = 2
  660. Yolo detection time: 0.050652
  661. Yolo object count = 1
  662. Yolo detection time: 0.038703
  663. Yolo object count = 1
  664. Yolo detection time: 0.0571346
  665. Yolo object count = 0
  666. Yolo detection time: 0.0574594
  667. Yolo object count = 2
  668. Yolo detection time: 0.0441506
  669. Yolo object count = 2
  670. Yolo detection time: 0.0506785
  671. Yolo object count = 1
  672. Yolo detection time: 0.0431278
  673. Yolo object count = 2
  674. Yolo detection time: 0.0499477
  675. Yolo object count = 2
  676. Yolo detection time: 0.0530605
  677. Yolo object count = 1
  678. Yolo detection time: 0.0410421
  679. Yolo object count = 2
  680. Yolo detection time: 0.0516341
  681. Yolo object count = 2
  682. Yolo detection time: 0.0431397
  683. Yolo object count = 1
  684. Yolo detection time: 0.0524011
  685. Yolo object count = 1
  686. Yolo detection time: 0.05129
  687. Yolo object count = 1
  688. Yolo detection time: 0.0479109
  689. Yolo object count = 1
  690. Yolo detection time: 0.0534136
  691. Yolo object count = 1
  692. Yolo detection time: 0.0439858
  693. Yolo object count = 1
  694. Yolo detection time: 0.0474164
  695. Yolo object count = 1
  696. Yolo detection time: 0.0511117
  697. Yolo object count = 1
  698. Yolo detection time: 0.0559268
  699. Yolo object count = 1
  700. Yolo detection time: 0.0535352
  701. Yolo object count = 1
  702. Yolo detection time: 0.0486815
  703. Yolo object count = 1
  704. Yolo detection time: 0.0460782
  705. Yolo object count = 1
  706. Yolo detection time: 0.0496004
  707. Yolo object count = 1
  708. Yolo detection time: 0.0420508
  709. Yolo object count = 1
  710. Yolo detection time: 0.0492599
  711. Yolo object count = 2
  712. Yolo detection time: 0.0409179
  713. Yolo object count = 2
  714. Yolo detection time: 0.0540051
  715. Yolo object count = 1
  716. Yolo detection time: 0.0476336
  717. Yolo object count = 1
  718. Yolo detection time: 0.0462682
  719. [Info] [CudaDepthPacketProcessor] avg. time: 4.5708ms -> ~218.78Hz
  720. Yolo object count = 1
  721. Yolo detection time: 0.0399051
  722. Yolo object count = 1
  723. Yolo detection time: 0.0513136
  724. Yolo object count = 1
  725. Yolo detection time: 0.0434129
  726. Yolo object count = 1
  727. Yolo detection time: 0.0479565
  728. Yolo object count = 2
  729. Yolo detection time: 0.0532279
  730. Yolo object count = 1
  731. Yolo detection time: 0.0455363
  732. Yolo object count = 2
  733. Yolo detection time: 0.0535402
  734. Yolo object count = 2
  735. [ INFO] [1552984799.099481965]: [Kinect2Bridge::main] depth processing: ~14.35ms (~69.6864Hz) publishing rate: ~29.9637Hz
  736. [ INFO] [1552984799.099542807]: [Kinect2Bridge::main] color processing: ~11.8978ms (~84.0489Hz) publishing rate: ~29.9637Hz
  737. Yolo object count = 1
  738. Yolo detection time: 0.0507326
  739. Yolo object count = 1
  740. Yolo detection time: 0.0509303
  741. Yolo object count = 1
  742. Yolo detection time: 0.0484002
  743. Yolo object count = 2
  744. Yolo detection time: 0.0540822
  745. Yolo object count = 1
  746. Yolo detection time: 0.0557408
  747. Yolo object count = 2
  748. Yolo detection time: 0.045306
  749. Yolo object count = 1
  750. Yolo detection time: 0.0524518
  751. Yolo object count = 2
  752. Yolo detection time: 0.043467
  753. Yolo object count = 1
  754. Yolo detection time: 0.057183
  755. Yolo object count = 1
  756. Yolo detection time: 0.0540044
  757. Yolo object count = 0
  758. Yolo detection time: 0.0492558
  759. Yolo object count = 1
  760. Yolo detection time: 0.0549746
  761. Yolo object count = 1
  762. Yolo detection time: 0.0499997
  763. Yolo object count = 2
  764. Yolo detection time: 0.0525575
  765. Yolo object count = 2
  766. Yolo detection time: 0.0553737
  767. Yolo object count = 2
  768. Yolo detection time: 0.0413134
  769. Yolo object count = 2
  770. Yolo detection time: 0.0531621
  771. Yolo object count = 1
  772. Yolo detection time: 0.0427198
  773. Yolo object count = 1
  774. Yolo detection time: 0.0550792
  775. Yolo object count = 0
  776. Yolo detection time: 0.0527334
  777. Yolo object count = 1
  778. Yolo detection time: 0.044708
  779. Yolo object count = 1
  780. Yolo detection time: 0.0563543
  781. Yolo object count = 1
  782. Yolo detection time: 0.0505254
  783. Yolo object count = 1
  784. Yolo detection time: 0.0486188
  785. Yolo object count = 1
  786. Yolo detection time: 0.0537128
  787. Yolo object count = 2
  788. Yolo detection time: 0.0417855
  789. Yolo object count = 2
  790. Yolo detection time: 0.0531085
  791. Yolo object count = 2
  792. Yolo detection time: 0.050868
  793. [Info] [CudaDepthPacketProcessor] avg. time: 4.76728ms -> ~209.763Hz
  794. Yolo object count = 1
  795. Yolo detection time: 0.0486548
  796. Yolo object count = 1
  797. Yolo detection time: 0.0502186
  798. Yolo object count = 1
  799. Yolo detection time: 0.0461638
  800. ^CYolo object count = 1
  801. Yolo detection time: 0.0571582
  802. [kinect01_yolo_object_detector_node-12] killing on exit
  803. [rtpose_kinect01-11] killing on exit
  804. [kinect01_points_xyzrgb_hd-9] killing on exit
  805. Yolo object count = 1
  806. Yolo detection time: 0.0504434
  807. [kinect01_points_xyzrgb_qhd-8] killing on exit
  808. [kinect01_points_xyzrgb_sd-7] killing on exit
  809. [kinect01_bridge-6] killing on exit
  810. [ INFO] [1552984800.796301817]: Unloading nodelet /kinect01_bridge from manager kinect01
  811. [kinect01-5] killing on exit
  812. [kinect01_base_link3-4] killing on exit
  813. [kinect01_base_link2-3] killing on exit
  814. [kinect01_base_link1-2] killing on exit
  815. [Info] [Freenect2DeviceImpl] stopping...
  816. [Info] [Freenect2DeviceImpl] canceling rgb transfers...
  817. [Info] [Freenect2DeviceImpl] canceling depth transfers...
  818. ^C[Info] [Freenect2DeviceImpl] stopped
  819. [Info] [Freenect2DeviceImpl] closing...
  820. [Info] [Freenect2DeviceImpl] releasing usb interfaces...
  821. [Info] [Freenect2DeviceImpl] deallocating usb transfer pools...
  822. [Info] [Freenect2DeviceImpl] closing usb device...
  823. [Info] [Freenect2DeviceImpl] closed
  824. [kinect01_base_link-1] killing on exit
  825. open_ptrack_yolo_object_detector_node: /usr/include/boost/thread/pthread/recursive_mutex.hpp:113: void boost::recursive_mutex::lock(): Assertion `!pthread_mutex_lock(&m)' failed.
  826. [Info] [Freenect2DeviceImpl] closing...
  827. [Info] [Freenect2DeviceImpl] already closed, doing nothing
  828. [rtpose_kinect01-11] escalating to SIGTERM
  829. shutting down processing monitor...
  830. ... shutting down processing monitor complete
  831. done
  832. root@Ubuntu-kinect-1:~#
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