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Only released in EOL distros:  

Package Summary

This package uses openni_tracker to detect persons and provides tf of the footprint of the dominant person and a tf of the footprint of the group of detected persons.

  • Maintainer: Reiter Andreas <andreas AT reiter-stt DOT at>, Reisenberger Johannes <johannesreisenberger AT gmx DOT at>
  • Author: Reiter Andreas <andreas AT reiter-stt DOT at>, Reisenberger Johannes <johannesreisenberger AT gmx DOT at>
  • License: BSD
  • Source: git https://github.com/robinJKU/tools_robin.git (branch: hydro-devel)

Documentation

See the robin_people_detection node documentation.

Nodes

robin_people_detection

This Node provides two tf between /base_footprint and /dominant_person, and /base_footprint and /group. The dominant Person is calculated by a weighted function from x and y distances (costs = x + 0.4*y). The group includes the average position of all detected persons. The z-coordinate of both tf is set to zero, to get the footprint of the person/group.

Parameters

base_name (string)

Required tf Transforms

/base_footbrint/torso_X

Provided tf Transforms

/base_footbrint/dominant_person /base_footbrint/group

Launch Files

Use roslaunch files to load this files.

Test People Detection

By calling

roslaunch robin_people_detection robin_people_detection.launch

one can test the people detection.


2019-12-07 13:00