Attic directory containing depricated launch files¶
these launch files are used to start the ppl perception using HOG featur
detection. This is currently deprecated and not supported. The code for
this can be found in the attic
branch. This directory is not
installed and therefore just to preserve the files themselves. Following
are the instructions on how to use these files:
people_tracker_robot_with_HOG.launch¶
This version of the tracking does rely on the ground_hog feature extraction and is therefore only usable on PCs with an NVIDIA graphics card. It also relys on the fixed ground plane assumption made for the robot. To use this you have to run it remotely on a machine talking to the rosmaster on the robot, e.g. a laptop inside the robot.
Parameters: * load_params_from_file
default = true: false
tries to read parameters from datacentre, true
reads parameters from
YAML file specified by param_file
* 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. * gp_queue_size
default = 5: The ground plane
sync queue size * gh_queue_size
default = 20: The ground plane
sync queue size * ubd_queue_size
default = 5: The upper body
detector sync queue size * pt_queue_size
default = 10: The people
tracking sync queue size * ptu_state
default = /ptu/state: The
ptu state topic * camera_namespace
default = /headxtion_: The
camera namespace. * rgb_image
default =
/rgb/imagerect_color_: camera_namespace
+ rgb_image
= rgb
image topic * depth_image
default = /depth/imagerect_:
camera_namespace
+ depth_image
= depth image topic *
mono_image
default = /rgb/imagemono_: camera_namespace
+
mono_image
= mono image topic * camera_info_rgb
default =
/rgb/camerainfo_: camera_namespace
+ camera_info_rgb
= rgb
camera info topic * camera_info_depth
default =
/depth/camerainfo_: camera_namespace
+ camera_info_depth
=
depth camera info topic * ground_plane
default =
/groundplane_: The fixed ground plane * upper_body_detections
default = /upperbody_detector/detections_: The detected upper body
* upper_body_bb_centres
default =
/upperbody_detector/bounding_box_centres_: Publishing a pose
array of the centres of the bounding boxes *
upper_body_markers default = /upper_body_detector/marker_array_: A visualisation array for rviz *
upper_body_image_default = /upper_body_detector/image_: The detected upper body image *
visual_odometry_default = /visual_odometry/motion_matrix_: The odometry. This takes the real odometry and only follows naming conventions for the ease of use. *
pedestrain_array_default = /mdl_people_tracker/people_array_: The detected and tracked people *
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 *
tf_target_frame_default = /map: The coordinate system into which the localisations should be transformed *
pd_positions_default = /people_tracker/positions_: The poses of the tracked people *
pd_marker_default = /people_tracker/marker_array_: A marker arry to visualise found people in rviz *
log`
default = false: Log people and robot locations together with tracking
and detection results to message_store database into people_perception
collection. Disabled by default because if it is enabled the perception
is running continuously.
Running:
roslaunch perception_people_launch people_tracker_robot_with_HOG.launch [parameter_name:=value]
people_tracker_standalone_with_HOG.launch¶
This depends on the strands_ground_hog package which has to be built
with the libcudaHOG. See README file of 3rd_party directory. It also
uses the /camera
namespace as a default and estimates the
groundplane because it is not supposed to be run on the robot but on an
external PC with a different set-up.
Parameters: * load_params_from_file
default = true: false
tries to read parameters from datacentre, true
reads parameters from
YAML file specified by param_file
* 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. * gh_queue_size
default = 10: The ground hog
sync queue size * gp_queue_size
default = 5: The ground plane
sync queue size * vo_queue_size
default = 5: The visual odometry
sync queue size * ubd_queue_size
default = 5: The upper body
detector sync queue size * pt_queue_size
default = 10: The people
tracking sync queue size * camera_namespace
default = /camera:
The camera namespace. * rgb_image
default =
/rgb/imagerect_color_: camera_namespace
+ rgb_image
= rgb
image topic * depth_image
default = /depth/imagerect_:
camera_namespace
+ depth_image
= depth image topic *
mono_image
default = /rgb/imagemono_: camera_namespace
+
mono_image
= mono image topic * camera_info_rgb
default =
/rgb/camerainfo_: camera_namespace
+ camera_info_rgb
= rgb
camera info topic * camera_info_depth
default =
/depth/camerainfo_: camera_namespace
+ camera_info_depth
=
depth camera info topic * ground_plane
default =
/groundplane_: The estimated ground plane *
ground_hog_detections
default = /groundHOG/detections: The ground
HOG detections * upper_body_detections
default =
/upperbody_detector/detections_: The detected upper body *
upper_body_bb_centres
default =
/upperbody_detector/bounding_box_centres_: Publishing a pose
array of the centres of the bounding boxes *
upper_body_markers default = /upper_body_detector/marker_array_: A visualisation array for rviz *
ground_hog_image_default = /groundHOG/image_: The ground HOG image *
upper_body_image_default = /upper_body_detector/image_: The detected upper body image *
visual_odometry_default = /visual_odometry/motion_matrix_: The visual odometry *
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 *
people_markers”
default=”/mdl_people_tracker/marker_array: A visualisation array for rviz *
tf_target_frame`
default = “”: The coordinate system into which the localisations
should be transformed. As this might not run on a robot and therefore no
tf is available this is an empty string.
Running:
roslaunch perception_people_launch people_tracker_standalone_with_HOG.launch [parameter_name:=value]
Original page: https://github.com/strands-project/strands_perception_people/blob/indigo-devel/perception_people_launch/attic/README.md