This repository contains nodes and packages that we use for person detection. All methods of person detection created by us publish people in the message formats defined in rail_people_detection_msgs. In addition, this repository contains third party people detection packages and metapackages as submodules. The nodes that we, RAIL, have written often aggregate the output from the thirdparty nodes into a more meaningful messages/representations.
rail_people_detection_msgs- the message definitions for packages within this directory.rail_people_detector- The primary package to conglomerate information about people near the robot.rail_people_detection_utils- Utility classes and functions that can be useful outside the context of person detection. Eg: projecting points in RGB into the point cloud. This might become its own package/resource in the future.leg_tracker- Submodule for the leg tracker showcased in this YouTube video.people- Submodule for Willow Garage's people detectors.