shike1239/PFF_PeD

PointCloud Fast Filter for People Detection

PFF_PeD

PointCloud Fast Filter for People Detection

The algorithm "PointCloud Fast Filter for People Detection" (PFF-PeD) detects people by processing effectively point-cloud data, independently of the specific 3D sensor employed. By focusing on the most informative observations, PFF-PeD is able to improve the accuracy and processing times compared to existing 2D and 3D solutions. We implemented PFF-PeD in C++ and integrated its operation in ROS Kinetic Kame in a laptop with Ubuntu 16.04.

Subscribed Topics

RGB-D Camera

• [/camera/depth/points] : Sensor PointCloud for peolple detection

Velodyne

• [/velodyne_points] : Sensor PointCloud for peolple detection

Published Topics

• [/PeopleCloud] : PointCloud with the final detection.
• [/TrunkCloud] : PointCloud filtered of the trunk range.
• [/LegsCloud] : PointCloud filtered of the Legs range.

Parameters

• [resolution] : Angle resolution in degrees for filter the points in a cloud of size 360°/resolution.
• [sensorheight] : S_h, see the following image. in meters.
• [legs_begin] : F_r, see the following image. in meters.
• [legs_end] : F_r + L_r, see the following image. in meters.
• [trunk_begin] : F_r + L_r + S_r, see the following image. in meters.
• [trunk_end] : F_r + L_r + S_r + T_r, see the following image. in meters.

Special parameters for RGB-D Camera

• [camera_fov] : Horizontal Field of View of the RGB-D camera in degrees.

Special parameters for Velodyne

• [min_vision_range] : Minimum Detection Range, in meters.
• [max_vision_range] : Maximum Detection Range, in meters.
• [horizontal_fov] : Desired horizontal field of view (from -theta/2 to theta/2), see the following image. in degrees.

How to build with catkin

$ cd ~/catkin_ws/src/
$ git clone https://github.com/cafemesa/PFF_PeD.git
$ cd ~/catkin_ws && catkin_make

How to run

Launch Files (roslaunch)

Requirements

To run the detection with the Astra Camera (from: https://github.com/orbbec/ros_astra_camera):

$ sudo apt install ros-$ROS_DISTRO-rgbd-launch ros-$ROS_DISTRO-libuvc ros-$ROS_DISTRO-libuvc-camera ros-$ROS_DISTRO-libuvc-ros
$ cd ~/catkin_ws/src
$ git clone https://github.com/orbbec/ros_astra_camera
$ ./ros_astra_camera/scripts/create_udev_rules
$ https://github.com/orbbec/ros_astra_launch.git
$ cd ~/catkin_ws && catkin_make

To run the detection with the Velodyne:

$ cd ~/catkin_ws/src
$ git clone https://github.com/ros-drivers/velodyne.git
$ cd ~/catkin_ws
$ rosdep install --from-paths src -i -y
$ catkin_make

Detection with Astra Camera PointCloud

$ roslaunch pff_ped astra_people.launch 

The previous command run:

• roslaunch astra_launch astrapro.launch
• rosrun pff_ped astra_people
• rivz with the configuration

Detection with Velodyne VLP-16 PointCloud

$ roslaunch pff_ped velodyne_people.launch 

The previous command run:

• roslaunch velodyne_pointcloud VLP16_points.launch
• rosrun pff_ped velodyne_people
• rivz with the configuration

Detection with Velodyne VLP-16 PointCloud Bag

Create the correct folder to store the bags

$ cd ~/catkin_ws/src/pff_ped/
$ mkdir bags

Download the bags files and copy into the "bags" folder

1. student.bag
2. robotics.bag
3. office.bag
4. corridor.bag

Set the desired bag in the launch file and run

$ roslaunch pff_ped velodyne_people_bag.launch 

The previous command run:

• rosrun pff_ped velodyne_people
• rivz with the configuration
• rosbag play [bag_name]

Nodes (rosrun)

Detection with Astra Camera PointCloud

With the sensor:

$ rosrun pff_ped astra_people
$ roslaunch astra_launch astrapro.launch
$ rosrun rviz rviz -d ~/catkin_ws/src/pff_ped/rviz_cfg/astra_people.rviz

With a bag:

$ rosrun pff_ped astra_people
$ rosrun rviz rviz -d ~/catkin_ws/src/pff_ped/rviz_cfg/astra_people.rviz
$ rosbag play [BAG_FILE]

Detection with Velodyne VLP-16 PointCloud

With the sensor:

$ rosrun pff_ped velodyne_people
$ roslaunch velodyne_pointcloud VLP16_points.launch
$ rosrun rviz rviz -d ~/catkin_ws/src/pff_ped/rviz_cfg/velodyne_people.rviz

With a bag:

$ rosrun pff_ped velodyne_people
$ rosrun rviz rviz -d ~/catkin_ws/src/pff_ped/rviz_cfg/velodyne_people.rviz
$ rosbag play [BAG_FILE]