Person detection using pcl_people module. Modified from this example.
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calibrate_v2.launch: calibration launch file for segbot V2. Launch before person detection. Calibration file will be generated containing ground coefficients.
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person_detection_v2.launch: run person detection node and record person position.
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person_detection_v2_norecord.launch: run person detection node without logging.
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calibrate_v3.launch: calibration launch file for segbot V3. Launch before person detection. Calibration file will be generated containing ground coefficients.
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person_detection_v3.launch: run person detection node and record person position.
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person_detection_v3_norecord.launch: run person detection node without logging.
nav_kinect/depth_registered/points
- pcl_detector/marker: visualization_msgs/Marker
- pcl_detector/human_poses: geometry_msgs/PoseStamped
- pcl_detector/human_clouds: sensor_msgs/PointCloud2
Run python scripts/visualization.py to obtain a 2d heatmap using data from data/record.txt.
Topic names, calibration file and log file can be changed in launch file.