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