PeopleDetection

../../../../_images/people_detection.png

What is this?

Detecting people on a ground plane with RGB-D data.

Subscribing Topics

  • ~input (sensor_msgs/PointCloud2)

  • ~input/info (sensor_msgs/CameraInfo)

  • ~input/coefficients (jsk_recognition_msgs/ModelCoefficientsArray)

    Gound plane’s coefficients.

Publishing Topics

  • ~boxes (jsk_recognition_msgs/BoundingBoxArray)

    Bounding Box of detected people.

Parameters

  • ~filename (String, default: "")

    traind SVM filename.

  • ~people_height_threshold (Double, default: 0.5)

  • ~min_confidence (Double, default: -1.5)

  • ~queue_size (Int, default: 1)

  • ~voxel_size (Double, default: 0.03)

  • ~box_width (Double, default: 0.5)

  • ~box_depth (Double, default: 0.5)

Sample

roslaunch jsk_pcl_ros sample_people_detection.launch