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head_tracking: head_pose_estimation | headmath | rosmouse

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.

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.

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.

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.

Overview

This package provides 6-DoF head pose estimation from depth data. head_pose.png

Installation

  1. Install all required dependencies: sudo apt-get install ros-groovy-people ros-groovy-image-transport ros-groovy-openni-launch

  2. 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.

Wiki: head_pose_estimation (last edited 2014-10-09 19:47:30 by DanLazewatsky)