Only released in EOL distros:
Package Summary
ROS wrapper around Fanelli et al.'s Real Time Head Pose Estimation from Consumer Depth Cameras. 33rd Annual Symposium of the German Association for Pattern Recognition (DAGM'11), 2011.
- Author: Daniel Lazewatsky
- License: Microsoft Shared Source
- Source: git https://github.com/OSUrobotics/ros-head-tracking.git (branch: groovy-devel)
Package Summary
ROS wrapper around Fanelli et al.'s Real Time Head Pose Estimation from Consumer Depth Cameras. 33rd Annual Symposium of the German Association for Pattern Recognition (DAGM'11), 2011.
- Maintainer status: maintained
- Maintainer: Dan Lazewatsky <dan AT lazewatsky DOT com>
- Author: Dan Lazewatsky
- License: Microsoft Shared Source
- Source: git https://github.com/OSUrobotics/ros-head-tracking.git (branch: hydro-devel)
Package Summary
ROS wrapper around Fanelli et al.'s Real Time Head Pose Estimation from Consumer Depth Cameras. 33rd Annual Symposium of the German Association for Pattern Recognition (DAGM'11), 2011.
- Maintainer status: maintained
- Maintainer: Dan Lazewatsky <dan AT lazewatsky DOT com>
- Author: Dan Lazewatsky
- License: Microsoft Shared Source
- Source: git https://github.com/OSUrobotics/ros-head-tracking.git (branch: hydro-devel)
Package Summary
ROS wrapper around Fanelli et al.'s Real Time Head Pose Estimation from Consumer Depth Cameras. 33rd Annual Symposium of the German Association for Pattern Recognition (DAGM'11), 2011.
- Maintainer status: maintained
- Maintainer: Dan Lazewatsky <dan AT lazewatsky DOT com>
- Author: Dan Lazewatsky
- License: Microsoft Shared Source
- Source: git https://github.com/OSUrobotics/ros-head-tracking.git (branch: hydro-devel)
Contents
Overview
This package provides 6-DoF head pose estimation from depth data. 
Installation
Install all required dependencies: sudo apt-get install ros-groovy-people ros-groovy-image-transport ros-groovy-openni-launch
Build the head_tracking stack using rosbuild
On Ubuntu, installation can be done with apt:
apt-get install ros-hydro-head-pose-estimation
Nodes
head_pose_estimation
Node for performing head pose estimationSubscribed Topics
cloud (sensor_msgs/PointCloud2)- The input point cloud
- Face detections
Published Topics
head_pose (geometry_msgs/PoseStamped)- The head pose output
Parameters
tree_path (string)- Defaults to string("trees/tree")
- Defaults to 10
- Defaults to 800.0
- Defaults to 1.0
- Defaults to 6.0
- Defaults to 5
- Defaults to 400
- Defaults to string("/camera_depth_frame")
- Defaults to 0.0
- Defaults to 0.0
- Defaults to 0.0
Example Usage
To run the head pose estimator with a Kinect sensor, first start up the openni driver from openni_launch.
estimator.launch runs the estimator with default parameters. Assuming the Kinect camera namespace is camera, estimator.launch can be run with roslaunch head_pose_estimation estimator.launch.
