Pedestrian Tracking

This package uses the data generated by ground_hog, visual_odometry und upper_body_detector to track people. It is also possible to omit the ground_hog detections.

Run

Parameters:

• load_params_from_file default = true: false tries to read parameters from datacentre, true reads parameters from YAML file specified by config_file
• config_file default = $(find mdl_people_tracker)/config/mdl_people_tracker.yaml: The config file containing all the essential parameters. Only used if load_params_from_file == true.
• 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.
• queue_size default = 20: The synchronisation queue size
• camera_namespace default = /head_xtion: The camera namespace.
• rgb_image default = /rgb/image_rect_color: camera_namespace + rgb_image = rgb image topic
• camera_info_rgb default = /rgb/camera_info: camera_namespace + camera_info_rgb = rgb camera info topic
• ground_plane default = /ground_plane: The ground plane published by the upper_body_detector
• ground_hog default = /groundHOG/detections: The ground_hog detections
• upper_body_detections default = /upper_body_detector/detections: The upper_body_detector_detections
• visual_odometry default = /visual_odometry/motion_matrix: The visual_odometry data
• pedestrain_array default = /mdl_people_tracker/people_array: The resulting tracking data.
• `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

rosrun:

rosrun mdl_people_tracker mdl_people_tracker [_parameter_name:=value]

roslaunch:

roslaunch mdl_people_tracker mdl_people_tracker_with_HOG.launch [parameter_name:=value]

To run the tracker without the groundHOG feture extraction running use:

rosrun mdl_people_tracker mdl_people_tracker _ground_hog:=""

or

roslaunch mdl_people_tracker mdl_people_tracker.launch [parameter_name:=value]