Middleware to connect iai_kinect2 and spencer_people_tracking.
PLEASE NOT THAT THIS PACKAGE IS NOT UNTER ACTIVE MAINTENANCE RIGHT NOW
- Robot Operating System, please check the version needed inside the SPENCER and iai_kinect2 README.
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Follow the installation instructions of ROS, iai_kinect2 and spencer_people_tracking
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Clone this repository to your catkin_workspace (where you installed the above packages)
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Compile using
catkin_make -DCMAKE_BUILD_TYPE=Release
roslaunch spencer_launch spencer_launch.launch
This will launch iai_kinect2, image_resampler and spencer_people_tracking.
There is a preconfigured RVIZ config file under iai_kinect2_adapt/spencer_launch/viz/rviz_config.rviz
You can either load this config by hand or alter the visualization setting in the spencer_launch.launch file to true.
To start RVIZ manually use rosrun rviz rviz
This package launches the whole SPENCER Detection Pipeline including iai_kinect2, image_resampler and spencer_people_tracking.
This package takes a depth image (provided by iai_kinect2), changes the resolution, adapts its encoding and republishes it to an user specified topic.
In case you want to run this package only (no iai_kinect2, no SPENCER) you can use the following command:
roslaunch image_resampler image_resampler.launch
The settings are preconfigured to work with iai_kinect2 and spencer_people_tracking
Source and target topics as well as target resolution can be configured via settings.yaml
- source_topic.encoding must be 16UC1
- target_topic.encoding will be 32FC1
- BigEndian encoded images are not supported
image_resampler: iai_kinect2_adapt/config/settings.yaml
RVIZ: iai_kinect2_adapt/spencer_launch/viz/rviz_config.rviz
This project is licensed under BSD-3-Clause. Please see the included LICENSE file for details.
This application uses or is based of Open Source components. You can find the source code of their open source projects along with license information below. We acknowledge and are grateful to these developers for their contributions to open source.
Project: spencer_people_tracking/launch/spencer_people_tracking_launch https://github.com/spencer-project/spencer_people_tracking/blob/master/launch/spencer_people_tracking_launch
Copyright (c) 2014-2015 Timm Linder, Social Robotics Laboratory, University of Freiburg
Copyright (c) 2014-2015 Stefan Breuers, Computer Vision Group, RWTH Aachen University
License (3-Clause BSD) https://github.com/spencer-project/spencer_people_tracking/blob/master/launch/spencer_people_tracking_launch/LICENSE
Project: iai_kinect2 https://github.com/code-iai/iai_kinect2
Copyright (c) 2014 Thiemo Wiedemeyer, Institute for Artificial Intelligence - University of Bremen
License ( Version 2.0) https://github.com/code-iai/iai_kinect2/blob/master/LICENSE