Head orientation estimator

This package estimates the orientation of the head of people detected by the upper body detector.

For the G4S Y1 deployment

For the G4S Y1 deployment, we won’t run the actual estimation, we’ll only run logging code and that’ll run 24/7, but can be paused/resumed by service calls.

Everything is logged into the heads collection.

Launching

Use the g5s launchfile:

roslaunch strands_head_orientation g4s.launch

Directly edit the parameters in the launchfile if they need adapting. Especially, please check expected_runtime and modify it if the expected runtime is not 3 weeks.

There is a hardcoded (by intent) limit of detection and image count to be logged (g_maxStored* in store_detections.cpp) which amounts to roughly 40Gb and 10Gb, respectively.

Pausing and resuming

In total, ~1 CPU core is used by this node and its dependencies. It can be paused and later on resumed if all available power is needed by someone else.

Pausing

Send a message of type strands_head_orientation/StopHeadAnalysis to the stop_head_analysis service and all activity will be paused.

The stop executable in this package does exactly that, see its source for an example or just execute it with recording as parameter:

rosrun strands_head_orientation stop recording

Resuming

For resuming from the paused state, send a message of type strands_head_orientation/StartHeadAnalysis to the start_head_analysis service.

Again, the start executable and its source can be helpful:

rosrun strands_head_orientation start recording

Poking

You can also check for the current state by sending a message of type strands_head_orientation/IsHeadAnalysisRunning to the status_head_analysis service.

Yet again, the status executable and its source help you:

rosrun strands_head_orientation status recording

Anything below this line can be ignored for the g4s scenario.

Install

Please download and extract one of the available model files into the models folder. The larger models will have better prediction but will run slower. By default:

cd strands_head_orientation/models
wget https://omnomnom.vision.rwth-aachen.de/strands/data/ghmodels-l/model-small.tar.bz2
tar xjv < model-small.tar.bz2
ln -s default-0.1 default

This should create the models/default link pointing to the models/default-0.1 folder with a bunch of files.

Run

Dependencies

This node needs upper_body_detector/upper_body_detector.launch to run, which in turn needs ground_plane_estimation/ground_plane_fixed.launch. Or just run the people tracker which starts both of the above.

Parameters

  • queue_size default = 10: The synchronisation queue size
  • camera_namespace default = /head_xtion: The camera namespace.
  • upper_body_detections default = /upper_body_detector/detections: The deteced upper bodies
  • head_ori default = /head_orientation/head_ori: Publishing an orientation array for each detected upper body.
  • model_dir default = “”: The learned model to use to do predictions. Models can be found in strands_head_orientation/models/.
  • autostart default = true: Whether to start analyzing detections right away or wait for a signal.

rosrun

rosrun strands_head_orientation strands_head_orientation [_parameter_name:=value]

roslaunch

roslaunch strands_head_orientation head_orientation.launch [parameter_name:=value]

Start/stop

This node should be permanently running. While running, it can be started and stopped and when stopped it should hardly use any resources, except for some memory.

Its activity can be controlled on-demand through calls to the following services: - start_head_analysis: starts the analysis of all incoming detections. - stop_head_analysis: stops the analysis of any detections. - status_head_analysis: returns whether the analysis is currently started.

For manual usage, you can use the start, stop and status executables:

rosrun strands_head_orientation start
rosrun strands_head_orientation status
rosrun strands_head_orientation stop

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