Pedestrian Tracking

This package uses the data generated by ground_hog, visual_odometry und upper_body_detector to track people. It is also possible to omit the ground_hog detections.

Run

Parameters: * load_params_from_file default = true: false tries to read parameters from datacentre, true reads parameters from YAML file specified by config_file * config_file default = $(find mdlpeople_tracker)/config/mdl_people_tracker.yaml_: The config file containing all the essential parameters. Only used if load_params_from_file == true. * machine default = localhost: Determines on which machine this node should run. * user default = “”: The user used for the ssh connection if machine is not localhost. * queue_size default = 20: The synchronisation queue size * camera_namespace default = /headxtion_: The camera namespace. * rgb_image default = /rgb/imagerect_color_: camera_namespace + rgb_image = rgb image topic * camera_info_rgb default = /rgb/camerainfo_: camera_namespace + camera_info_rgb = rgb camera info topic * ground_plane default = /groundplane_: The ground plane published by the upper_body_detector * ground_hog default = /groundHOG/detections: The ground_hog detections * upper_body_detections default = /upperbody_detector/detections_: The upper_body_detector_detections * visual_odometry default = /visualodometry/motion_matrix_: The visual_odometry data * pedestrain_array default = /mdlpeople_tracker/people_array_: The resulting tracking data. * people_markers" default="/mdl_people_tracker/marker_array_: A visualisation array for rviz *people_poses” default = /mdl_people_tracker/pose_array_: A PoseArray of the detected people

rosrun:

rosrun mdl_people_tracker mdl_people_tracker [_parameter_name:=value]

roslaunch:

roslaunch mdl_people_tracker mdl_people_tracker_with_HOG.launch [parameter_name:=value]

To run the tracker without the groundHOG feture extraction running use:

rosrun mdl_people_tracker mdl_people_tracker _ground_hog:=""

or

roslaunch mdl_people_tracker mdl_people_tracker.launch [parameter_name:=value]

Original page: https://github.com/strands-project/strands_perception_people/blob/indigo-devel/mdl_people_tracker/README.md