sensorTrack/Kinect02

root@Ubuntu-Kinect-2:~# roslaunch detection detection_node_kinect02.launch
... logging to /root/.ros/log/0fd0bd88-4a22-11e9-9bf1-b8ca3a9cf7b1/roslaunch-Ubuntu-Kinect-2-421.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://172.30.3.29:35221/

SUMMARY
========

PARAMETERS
 * /kinect02_bridge/analog_gain: 2.0
 * /kinect02_bridge/base_name: kinect02
 * /kinect02_bridge/base_name_tf: kinect02
 * /kinect02_bridge/bilateral_filter: True
 * /kinect02_bridge/calib_path: /root/workspace/r...
 * /kinect02_bridge/depth_device: -1
 * /kinect02_bridge/depth_method: default
 * /kinect02_bridge/edge_aware_filter: True
 * /kinect02_bridge/exposure_compensation: 0.0
 * /kinect02_bridge/exposure_method: 0
 * /kinect02_bridge/fps_limit: -1.0
 * /kinect02_bridge/integration_time_ms: 33.0
 * /kinect02_bridge/jpeg_quality: 90
 * /kinect02_bridge/max_depth: 12.0
 * /kinect02_bridge/min_depth: 0.1
 * /kinect02_bridge/png_level: 1
 * /kinect02_bridge/pseudo_exposure_time_ms: 33.0
 * /kinect02_bridge/publish_tf: True
 * /kinect02_bridge/queue_size: 5
 * /kinect02_bridge/reg_device: -1
 * /kinect02_bridge/reg_method: default
 * /kinect02_bridge/respawn: True
 * /kinect02_bridge/sensor:
 * /kinect02_bridge/start_manager": True
 * /kinect02_bridge/use_machine: True
 * /kinect02_bridge/use_nodelet": True
 * /kinect02_bridge/use_png: False
 * /kinect02_bridge/worker_threads: 4
 * /kinect02_points_xyzrgb_hd/queue_size: 5
 * /kinect02_points_xyzrgb_qhd/queue_size: 5
 * /kinect02_points_xyzrgb_sd/queue_size: 5
 * /kinect02_yolo_detector_node/camera_info_topic: /kinect02/rgb_low...
 * /kinect02_yolo_detector_node/data_cfg: /root/workspace/r...
 * /kinect02_yolo_detector_node/depth_image_topic: /kinect02/depth_l...
 * /kinect02_yolo_detector_node/encoding_type: 32FC1
 * /kinect02_yolo_detector_node/heir_thresh: 0.5
 * /kinect02_yolo_detector_node/in_mm: 1
 * /kinect02_yolo_detector_node/output_topic: /detector/detections
 * /kinect02_yolo_detector_node/rgb_image_topic: /kinect02/rgb_low...
 * /kinect02_yolo_detector_node/root: /root/workspace/r...
 * /kinect02_yolo_detector_node/thresh: 0.25
 * /kinect02_yolo_detector_node/weight_file: /root/workspace/r...
 * /kinect02_yolo_detector_node/yolo_cfg: /root/workspace/r...
 * /kinect02_yolo_object_detector_node/camera_info_topic: /kinect02/sd/came...
 * /kinect02_yolo_object_detector_node/data_cfg: /root/workspace/r...
 * /kinect02_yolo_object_detector_node/depth_image_topic: /kinect02/sd/imag...
 * /kinect02_yolo_object_detector_node/encoding_type: 32FC1
 * /kinect02_yolo_object_detector_node/hier_thresh: 0.5
 * /kinect02_yolo_object_detector_node/in_mm: 1
 * /kinect02_yolo_object_detector_node/median_factor: 0.3
 * /kinect02_yolo_object_detector_node/name_file: /root/workspace/r...
 * /kinect02_yolo_object_detector_node/output_topic: /objects_detector...
 * /kinect02_yolo_object_detector_node/rgb_image_topic: /kinect02/sd/imag...
 * /kinect02_yolo_object_detector_node/root: /root/workspace/r...
 * /kinect02_yolo_object_detector_node/thresh: 0.4
 * /kinect02_yolo_object_detector_node/weight_file: /root/workspace/r...
 * /kinect02_yolo_object_detector_node/world_frame_id: /world
 * /kinect02_yolo_object_detector_node/yolo_cfg: /root/workspace/r...
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /rtpose_kinect02/caffe_model: /root/workspace/r...
 * /rtpose_kinect02/caffe_proto: /root/workspace/r...
 * /rtpose_kinect02/camera_index: 0
 * /rtpose_kinect02/camera_info_topic: /kinect02/qhd/cam...
 * /rtpose_kinect02/camera_resolution:
 * /rtpose_kinect02/depth_topic: /kinect02/qhd/ima...
 * /rtpose_kinect02/fullscreen: False
 * /rtpose_kinect02/head_correction_param: 0.6
 * /rtpose_kinect02/head_joint_enhancement: False
 * /rtpose_kinect02/image_dir:
 * /rtpose_kinect02/marker_topic_to_publish: /detector/skeleto...
 * /rtpose_kinect02/max_size_input_queue: 1
 * /rtpose_kinect02/minimum_number_of_valid_3D_joints: 8
 * /rtpose_kinect02/net_resolution: 656x368
 * /rtpose_kinect02/no_display: True
 * /rtpose_kinect02/no_frame_drops: False
 * /rtpose_kinect02/noise_threshold: 0.8
 * /rtpose_kinect02/num_gpu: 1
 * /rtpose_kinect02/num_scales: 1
 * /rtpose_kinect02/part_to_show: 0
 * /rtpose_kinect02/raw_skeleton_image_on_topic: True
 * /rtpose_kinect02/raw_skeleton_image_topic_to_publish: /detector/skeleto...
 * /rtpose_kinect02/resolution:
 * /rtpose_kinect02/rgb_topic: /kinect02/qhd/ima...
 * /rtpose_kinect02/scale_gap: 0.3
 * /rtpose_kinect02/skeleton_color_b: 0.0
 * /rtpose_kinect02/skeleton_color_g: 1.0
 * /rtpose_kinect02/skeleton_color_r: 1.0
 * /rtpose_kinect02/skeleton_solid_color: True
 * /rtpose_kinect02/skeleton_topic_to_publish: /detector/skeletons
 * /rtpose_kinect02/start_device: 0
 * /rtpose_kinect02/start_frame: 0
 * /rtpose_kinect02/start_scale: 1
 * /rtpose_kinect02/video:
 * /rtpose_kinect02/write_frames: False
 * /rtpose_kinect02/write_json:

NODES
  /
    kinect02 (nodelet/nodelet)
    kinect02_base_link (tf/static_transform_publisher)
    kinect02_base_link1 (tf/static_transform_publisher)
    kinect02_base_link2 (tf/static_transform_publisher)
    kinect02_base_link3 (tf/static_transform_publisher)
    kinect02_bridge (nodelet/nodelet)
    kinect02_points_xyzrgb_hd (nodelet/nodelet)
    kinect02_points_xyzrgb_qhd (nodelet/nodelet)
    kinect02_points_xyzrgb_sd (nodelet/nodelet)
    kinect02_yolo_detector_node (yolo_detector/open_ptrack_yolo_detector_node)
    kinect02_yolo_object_detector_node (yolo_detector/open_ptrack_yolo_object_detector_node)
    rtpose_kinect02 (rtpose_wrapper/rtpose)

ROS_MASTER_URI=http://172.30.3.31:11311/

process[kinect02_base_link-1]: started with pid [430]
process[kinect02_base_link1-2]: started with pid [431]
process[kinect02_base_link2-3]: started with pid [439]
process[kinect02_base_link3-4]: started with pid [441]
process[kinect02-5]: started with pid [446]
[ INFO] [1552984661.254776846]: Initializing nodelet with 8 worker threads.
process[kinect02_bridge-6]: started with pid [451]
[ INFO] [1552984661.515458507]: Loading nodelet /kinect02_bridge of type kinect2_bridge/kinect2_bridge_nodelet to manager kinect02 with the following remappings:
[ INFO] [1552984661.603973551]: [Kinect2Bridge::initialize] parameter:
        base_name: kinect02
           sensor: default
        fps_limit: -1
       calib_path: /root/workspace/ros/src/iai_kinect2/kinect2_bridge/data/
          use_png: false
     jpeg_quality: 90
        png_level: 1
     depth_method: default
     depth_device: -1
       reg_method: default
       reg_device: -1
        max_depth: 12
        min_depth: 0.1
       queue_size: 5
 bilateral_filter: true
edge_aware_filter: true
       publish_tf: true
     base_name_tf: kinect02
   worker_threads: 4
exposure_method0
exposure_compensation0
pseudo_exposure_time_ms33
pseudo_exposure_time_ms33
integration_time_ms33

[Info] [CudaDepthPacketProcessorImpl] device 0: Quadro P6000 @ 1645MHz Memory 24448MB
[Info] [CudaDepthPacketProcessorImpl] selected device 0
[Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 9 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @4:3 with serial 010619464447
[Info] [Freenect2Impl] found 1 devices
[ INFO] [1552984661.728029511]: [Kinect2Bridge::initDevice] Kinect2 devices found:
[ INFO] [1552984661.728064380]: [Kinect2Bridge::initDevice]   0: 010619464447 (selected)
process[kinect02_points_xyzrgb_sd-7]: started with pid [466]
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 20*16384 ir: 60*8*33792
[Info] [Freenect2DeviceImpl] opened
[ INFO] [1552984661.831222902]: [Kinect2Bridge::initDevice] starting kinect2
[Info] [Freenect2DeviceImpl] starting...
process[kinect02_points_xyzrgb_qhd-8]: started with pid [478]
[Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Info] [Freenect2DeviceImpl] started
[ INFO] [1552984662.152166669]: [Kinect2Bridge::initDevice] device serial: 010619464447
[ INFO] [1552984662.152207949]: [Kinect2Bridge::initDevice] device firmware: 4.0.3916.0
[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] canceling rgb transfers...
process[kinect02_points_xyzrgb_hd-9]: started with pid [483]
[Info] [Freenect2DeviceImpl] canceling depth transfers...
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]
[Info] [Freenect2DeviceImpl] stopped
[ INFO] [1552984662.544987738]: [DepthRegistration::New] Using OpenCL registration method!
[ INFO] [1552984662.545059351]: [DepthRegistration::New] Using OpenCL registration method!
[ INFO] [1552984662.553166547]: [DepthRegistrationOpenCL::init] devices:
[ INFO] [1552984662.553355505]: [DepthRegistrationOpenCL::init]   0: Quadro P6000
[ INFO] [1552984662.553456000]: [DepthRegistrationOpenCL::init] selected device: Quadro P6000
[ INFO] [1552984662.674537639]: [DepthRegistrationOpenCL::init] devices:
[ INFO] [1552984662.674683963]: [DepthRegistrationOpenCL::init]   0: Quadro P6000
[ INFO] [1552984662.674790244]: [DepthRegistrationOpenCL::init] selected device: Quadro P6000
process[rtpose_kinect02-11]: started with pid [492]
[ INFO] [1552984662.876685356]: [Kinect2Bridge::main] waiting for clients to connect
process[kinect02_yolo_object_detector_node-12]: started with pid [501]
layer     filters    size              input                output
    0 [ INFO] [1552984663.267508225]: No subscriber to skeletons and/or no publisher for input topics, waiting....
[ INFO] [1552984663.317476813]: No subscriber to skeletons and/or no publisher for input topics, waiting....
[ INFO] [1552984663.367500705]: No subscriber to skeletons and/or no publisher for input topics, waiting....
[ INFO] [1552984663.417504124]: No subscriber to skeletons and/or no publisher for input topics, waiting....
[ INFO] [1552984663.467515484]: No subscriber to skeletons and/or no publisher for input topics, waiting....
[ INFO] [1552984663.517504633]: No subscriber to skeletons and/or no publisher for input topics, waiting....
[ INFO] [1552984663.522185548]: [Kinect2Bridge::callbackStatus] client connected. starting device...
[Info] [Freenect2DeviceImpl] starting...
[ INFO] [1552984663.568487124]: I am beginning to stream skeletons...
conv     32  3 x 3 / 1   416 x 416 x   3   ->   416 x 416 x  32
    1 max          2 x 2 / 2   416 x 416 x  32   ->   208 x 208 x  32
    2 conv     64  3 x 3 / 1   208 x 208 x  32   ->   208 x 208 x  64
    3 max          2 x 2 / 2   208 x 208 x  64   ->   104 x 104 x  64
    4 conv    128  3 x 3 / 1   104 x 104 x  64   ->   104 x 104 x 128
    5 conv     64  1 x 1 / 1   104 x 104 x 128   ->   104 x 104 x  64
    6 conv    128  3 x 3 / 1   104 x 104 x  64   ->   104 x 104 x 128
    7 max          2 x 2 / 2   104 x 104 x 128   ->    52 x  52 x 128
    8 [Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] started
[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] canceling rgb transfers...
conv    256  3 x 3 / 1    52 x  52 x 128   ->    52 x  52 x 256
    9 conv    128  1 x 1 / 1    52 x  52 x 256   ->    52 x  52 x 128
   10 conv    256  3 x 3 / 1    52 x  52 x 128   ->    52 x  52 x 256
   11 max          2 x 2 / 2    52 x  52 x 256   ->    26 x  26 x 256
   12 [Info] [Freenect2DeviceImpl] stopped
[Info] [Freenect2DeviceImpl] starting...
[Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Info] [Freenect2DeviceImpl] started
[Info] [DepthPacketStreamParser] -14 packets were lost
conv    512  3 x 3 / 1    26 x  26 x 256   ->    26 x  26 x 512
   13 conv    256  1 x 1 / 1    26 x  26 x 512   ->    26 x  26 x 256
   14 [Info] [RgbPacketStreamParser] packetsize or sequence doesn't match!
conv    512  3 x 3 / 1    26 x  26 x 256   ->    26 x  26 x 512
   15 conv    256  1 x 1 / 1    26 x  26 x 512   ->    26 x  26 x 256
   16 conv    512  3 x 3 / 1    26 x  26 x 256   ->    26 x  26 x 512
   17 max          2 x 2 / 2    26 x  26 x 512   ->    13 x  13 x 512
   18 [Info] [DepthPacketStreamParser] 1 packets were lost
conv   1024  3 x 3 / 1    13 x  13 x 512   ->    13 x  13 x1024
   19 conv    512  1 x 1 / 1    13 x  13 x1024   ->    13 x  13 x 512
   20 conv   1024  3 x 3 / 1    13 x  13 x 512   ->    13 x  13 x1024
   21 conv    512  1 x 1 / 1    13 x  13 x1024   ->    13 x  13 x 512
   22 conv   1024  3 x 3 / 1    13 x  13 x 512   ->    13 x  13 x1024
   23 [ INFO] [1552984666.858627657]: [Kinect2Bridge::main] depth processing: ~1.60166ms (~624.354Hz) publishing rate: ~27.9751Hz
[ INFO] [1552984666.858686860]: [Kinect2Bridge::main] color processing: ~4.52251ms (~221.116Hz) publishing rate: ~22.6465Hz
[Info] [CudaDepthPacketProcessor] avg. time: 1.25306ms -> ~798.047Hz
[Info] [TurboJpegRgbPacketProcessor] avg. time: 19.5358ms -> ~51.1881Hz
conv   1024  3 x 3 / 1    13 x  13 x1024   ->    13 x  13 x1024
   24 [ WARN] [1552984668.817878435]: rtpose TODO: define confidence, height, distance and occluded policy
conv   1024  3 x 3 / 1    13 x  13 x1024   ->    13 x  13 x1024
   25 route  16
   26 conv     64  1 x 1 / 1    26 x  26 x 512   ->    26 x  26 x  64
   27 reorg              / 2    26 x  26 x  64   ->    13 x  13 x 256
   28 route  27 24
   29 [ INFO] [1552984669.860943278]: [Kinect2Bridge::main] depth processing: ~2.78775ms (~358.712Hz) publishing rate: ~29.977Hz
[ INFO] [1552984669.861020041]: [Kinect2Bridge::main] color processing: ~4.73761ms (~211.077Hz) publishing rate: ~29.977Hz
[Info] [CudaDepthPacketProcessor] avg. time: 3.56983ms -> ~280.125Hz
[Info] [TurboJpegRgbPacketProcessor] avg. time: 20.5627ms -> ~48.6317Hz
conv   1024  3 x 3 / 1    13 x  13 x1280   ->    13 x  13 x1024
   30 conv    425  1 x 1 / 1    13 x  13 x1024   ->    13 x  13 x 425
   31 detection
mask_scale: Using default '1.000000'' failed.
[Info] [Freenect2DeviceImpl] stopping...
[Info] [Freenect2DeviceImpl] canceling rgb transfers...
[Info] [Freenect2DeviceImpl] canceling depth transfers...
[Info] [Freenect2DeviceImpl] stopped
[Info] [Freenect2DeviceImpl] closing...
[Info] [Freenect2DeviceImpl] releasing usb interfaces...
[Info] [Freenect2DeviceImpl] deallocating usb transfer pools...
[Info] [Freenect2DeviceImpl] closing usb device...
[Info] [Freenect2DeviceImpl] closed
[Info] [Freenect2DeviceImpl] closing...
[Info] [Freenect2DeviceImpl] already closed, doing nothing
[rtpose_kinect02-11] escalating to SIGTERM
shutting down processing monitor...
... shutting down processing monitor complete
done
root@Ubuntu-Kinect-2:~#