Only released in EOL distros:

See head_pose_estimation on index.ros.org for more info including anything ROS 2 related.

head_tracking: head_pose_estimation | headmath | rosmouse

Package Links

Dependencies (14)

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 Links

Dependencies (15)

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 Links

Dependencies (15)

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
Installation
Nodes
1. head_pose_estimation
Example Usage

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 estimation

Subscribed Topics

cloud (sensor_msgs/PointCloud2)

The input point cloud

/face_detector/people_tracker_measurements_array (people_msgs/PositionMeasurementArray)

Face detections

Published Topics

head_pose (geometry_msgs/PoseStamped)

The head pose output

Parameters

tree_path (string)

Defaults to string("trees/tree")

ntrees (double)

Defaults to 10

max_variance (double)

Defaults to 800.0

larger_radius_ratio (double)

Defaults to 1.0

smaller_radius_ratio (double)

Defaults to 6.0

stride (double)

Defaults to 5

head_threshold (double)

Defaults to 400

head_target_frame (string)

Defaults to string("/camera_depth_frame")

angular_bias_roll (double)

Defaults to 0.0

angular_bias_pitch (double)

Defaults to 0.0

angular_bias_yaw (double)

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.