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Upper Body Detector

This package detects the upper bodies of persons using the depth image.

Run

Parameters:

  • load_params_from_file default = true: false tries to read parameters from datacentre, true reads parameters from YAML file specified by config_file
  • config_file default = $(find upper_body_detector)/config/upper_body_detector.yaml: The config file containing all the essential parameters. Only used if load_params_from_file == true.
  • template_file default = $(find upper_body_detector)/config/upper_body_template.yaml: The upper body template file. Read from the database if load_params_from_file == true.
  • machine default = localhost: Determines on which machine this node should run.
  • user default = "": The user used for the ssh connection if machine is not localhost.
  • queue_size default = 20: The synchronisation queue size
  • config_file default = "": The global config file. Can be found in strands_upper_bodydetector/config
  • template_file default = "": The template file. Can be found in config.
  • camera_namespace default = /head_xtion: The camera namespace.
  • depth_image default = /depth/image_rect: camera_namespace + depth_image = depth image topic
  • rgb_image default = /rgb/image_rect_color: camera_namespace + rgb_image = rgb image topic
  • camera_info_depth default = /depth/camera_info: camera_namespace + camera_info_depth = depth camera info topic
  • ground_plane default = /ground_plane: The estimated/fixed ground plane
  • upper_body_detections default = /upper_body_detector/detections: The deteced upper bodies
  • upper_body_bb_centres default = /upper_body_detector/bounding_box_centres: Publishing a pose array of the centres of the bounding boxes
  • upper_body_image default = /upper_body_detector/image: The resulting image showing the detections as a boundingbox
  • `upper_body_markers default = /upper_body_detector/marker_array_: A visualisation array for rviz

rosrun:

rosrun upper_body_detector upper_body_detector [_parameter_name:=value]

roslaunch:

roslaunch upper_body_detector upper_body_detector.launch [parameter_name:=value]