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