Documentation

See the robin_people_detection node documentation.

Nodes

robin_people_detection

This Node provides two tf between /base_footprint and /dominant_person, and /base_footprint and /group. The dominant Person is calculated by a weighted function from x and y distances (costs = x + 0.4*y). The group includes the average position of all detected persons. The z-coordinate of both tf is set to zero, to get the footprint of the person/group.

Parameters

base_name (string)
  • Name of the parent frame for the provided transformations. Default: "/base_footprint".

Required tf Transforms

/base_footbrint/torso_X
  • Transformation between the base footprint of the robot/kinect to the torso (can be more than 1) of the persons to detect.

Provided tf Transforms

/base_footbrint/dominant_person
  • Transformation from base footprint of the robot/kinect to the base footprint of the dominant person.
/base_footbrint/group
  • Transformation from base footprint of the robot/kinect to the base footprint of the group of persons.

Launch Files

Use roslaunch files to load this files.

Test People Detection

By calling

roslaunch robin_people_detection robin_people_detection.launch

one can test the people detection.

Wiki: robin_people_detection (last edited 2013-12-18 09:57:17 by JohannesReisenberger)