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laser_detectors.launch
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laser_detectors.launch
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<launch>
<arg name="rear" default="true"/>
<arg name="adaboost_model" default="lms500"/>
<arg name="detection_id_increment" default="20"/>
<arg name="laser_max_distance" default="15"/>
<group ns="/spencer/perception_internal/people_detection">
<group>
<!-- Front laser detector (Adaboost) -->
<include file="$(find srl_laser_detectors)/launch/adaboost_detector_with_ahc_$(arg adaboost_model).launch" ns="laser_front">
<arg name="detected_persons" value="/spencer/perception_internal/detected_persons/laser_front"/>
<arg name="laser" value="/spencer/sensors/laser_front/echo0"/>
<arg name="max_avg_distance_from_sensor" value="$(arg laser_max_distance)"/>
<arg name="detection_id_offset" value="1"/>
<arg name="detection_id_increment" value="$(arg detection_id_increment)"/>
<arg name="pose_variance" value="0.01"/> <!-- affects gain of Kalman filter! -->
</include>
<!-- Front laser detector (Blob detector with high recall, but low precision) -->
<include file="$(find srl_laser_detectors)/launch/blob_detector.launch" ns="laser_front_high_recall">
<arg name="detected_persons" value="/spencer/perception_internal/detected_persons/laser_front_high_recall"/>
<arg name="laser" value="/spencer/sensors/laser_front/echo0"/>
<arg name="min_avg_distance_from_sensor" value="0.0"/>
<arg name="max_avg_distance_from_sensor" value="$(arg laser_max_distance)"/>
<arg name="min_points_per_segment" value="5"/>
<arg name="max_points_per_segment" value="999"/>
<arg name="detection_id_offset" value="9"/>
<arg name="detection_id_increment" value="$(arg detection_id_increment)"/>
<arg name="pose_variance" value="0.01"/> <!-- affects gain of Kalman filter! -->
</include>
</group>
<group if="$(arg rear)">
<!-- Rear laser detector (Adaboost) -->
<include file="$(find srl_laser_detectors)/launch/adaboost_detector_with_ahc_$(arg adaboost_model).launch" ns="laser_rear">
<arg name="detected_persons" value="/spencer/perception_internal/detected_persons/laser_rear"/>
<arg name="laser" value="/spencer/sensors/laser_rear/echo0"/>
<arg name="max_avg_distance_from_sensor" value="$(arg laser_max_distance)"/>
<arg name="detection_id_offset" value="2"/>
<arg name="detection_id_increment" value="$(arg detection_id_increment)"/>
<arg name="pose_variance" value="0.01"/> <!-- affects gain of Kalman filter! -->
</include>
<!-- Rear laser detector (Blob detector with high recall, but low precision) -->
<include file="$(find srl_laser_detectors)/launch/blob_detector.launch" ns="laser_rear_high_recall">
<arg name="detected_persons" value="/spencer/perception_internal/detected_persons/laser_rear_high_recall"/>
<arg name="laser" value="/spencer/sensors/laser_rear/echo0"/>
<arg name="min_avg_distance_from_sensor" value="0.0"/>
<arg name="max_avg_distance_from_sensor" value="$(arg laser_max_distance)"/>
<arg name="min_points_per_segment" value="5"/>
<arg name="max_points_per_segment" value="999"/>
<arg name="detection_id_offset" value="10"/>
<arg name="detection_id_increment" value="$(arg detection_id_increment)"/>
<arg name="pose_variance" value="0.01"/> <!-- affects gain of Kalman filter! -->
</include>
</group>
</group>
</launch>