upper_body_detector

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]