apennisi / rgbd_person_tracking

R-GBD Person Tracking is a ROS framework for detecting and tracking people from a mobile robot.

R-GBD Person Tracking

R-GBD Person Tracking (RGPT) is a ROS framework for detecting and tracking people from a mobile robot.

Requirements

AT requires the following packeges to build:

• OpenCV
• Boost
• PCL
• ROS Indigo
• OpenMP

How to build

RGPT works under Linux 14.04 and ROS Indigo. For building the source, you have to put the repository inside your catking workspace and then follows the following command sequence:

• rospack profile
• catkin_make

How to setup

INPUT: Check the file people_detection_complete.launch inside the folder people_detection/launch

Example:
<launch>
	<arg name="prefix" value="/top_camera" />
	<node name="ground_detector" pkg="ground_detector" type="ground_detector_node" output="screen">
		<param name="theta" value="12"/> <!-- xtion tilt angle -->
		<param name="ty" value="1.5"/> <!-- xtion y traslation -->
		<param name="debug" value="false"/> <!-- show the segmentation output -->
		<param name="groundThreshold" value="0.05" /> <!-- under this threshold is considered ground --> 
		<param name="voxel_size" value="0.06" /> <!-- voxel size -->
		<param name="min_height" value="1.0" /> <!-- min blob height -->
		<param name="max_height" value="2.0" /> <!-- max blob height -->
		<param name="min_head_distance" value="0.3" /> <!-- min distance between two heads -->
		<param name="sampling_factor" value="3" /> <!-- sampling cloud factor -->
		<param name="apply_denoising" value="false" /> 
		<param name="mean_k_denoising" value="5" /> <!-- meanK for denoising (the higher it is, the stronger is the filtering) -->
		<param name="std_dev_denoising" value="0.3" /> <!-- standard deviation for denoising (the lower it is, the stronger is the filtering) -->
		<param name="max_distance" value="6" /> <!-- detection rate in meters -->
		<param name="depth_topic" value="$(arg prefix)/depth/image_raw" />
		<param name="camera_info_topic" value="$(arg prefix)/depth/camera_info" />
		<param name="rgb_topic" value="$(arg prefix)/rgb/image_raw" />			
	</node>
	
	<node name="dispatcher_node" pkg="dispatcher_node" type="dispatcher_node" output="screen">
		<param name="min" value="1.5"/> <!-- min value for tracking only the face -->
	</node>
	
	<node name="people_detector" pkg="people_detection" type="people_detection_node" output="screen">
		<param name="dataset" value="$(find people_detection)/config/inria_detector.xml"/> <!-- dataset filename -->
		<param name="confidence" value="65."/> <!--min confidence for considering the blob as a person -->
		<param name="image_scaling_factor" value="1.5"/><!--scaling factor for image detection (if you increase it, the detection speed increses and the precision decreses) -->
	</node>
	
	<node name="visual_tracker" pkg="visual_tracker" type="visual_tracker" output="screen">
		<param name="image_scaling_factor" value="1.5"/><!--scaling factor for image detection (if you increase it, the detection speed increses and the precision decreses) -->
	</node>
	
</launch>

OUTPUT: topic: /tracks Message type: Traks A vector containing: int32 id Point2i point2D Point3D point3D

How to use

Once the build phase has been successfully, you can use RGPT by launching the following command:

• roslaunch people_detection people_detection_complete.launch

How it works:

RGPT is divided in three steps:

• RGBD Segmentation
• People Detection
• People Tracking

You can find more information in the paper: COACHES: An assistance Multi-Robot System in public areas [link]

rgbd_person_tracking's Issues

why online boost always replace same weak classifier？

when I debug this algorithm，I note this.

Fatal Error:people_msgs/**.h:No such file or directory

Excuse me, sir!
When I command "catkin_make" in catkin_ws workspace, then it got some wrong, such as, "/home/boocax/catkin_ws/src/visual_tracker/src/main.cpp:34:40: fatal error: people_msgs/SegmentedImage.h: No such file or directory", "/home/boy/catkin_ws/src/ground_detector/src/blob_extraction.h:43:34: fatal error: people_msgs/Clusters.h: No such file or directory",
what's wrong about it? How can I do with those problem? Help me, please....
Ubuntu14.05, Indigo Ros, PCL 1.7, OpenCV 2.4.8, Boost 1.58

Detection is working but no tracking

Hello,
I managed to make the detection work but there is never any tracking. The clusters in every ROS topics are empty.

The input ROS topics are the camera info (roof_rgbd_camera/depth/camera_info), the rgb image (roof_rgbd_camera/rgb/image_raw) with a resolution of 240320 and the depth image (roof_rgbd_camera/depth/image_rect) with a resolution of 240320 and the depth in meter.

Do you know what might be happening ?

Thank you

references to 'cv :: SURF :: SURF ()' undefined

In the function 'tracker :: Tracker :: track (std :: vector <tracker :: detection_struct, std :: allocator > const &, cv :: Mat const &)'
/home/daxiong/ros_study_ws/src/rgbd_person_tracking-master/visual_tracker/src/Tracker.cpp:78: references to 'cv :: SURF :: SURF ()' undefined

AlgorithmInfo Issue

When I am compiling the project using catkin_make inside the cakin workspace I am facing this error I dont know y???

OpenCV problem while running people detector node.

The ground detector node and dispatcher node work fine and are giving output on their respective topics But when I run people_detector_node it fails with the following kind of errors -

1. OpenCV Error: The function/feature is not implemented (Unknown/unsupported array type) in create, file /home/abhsihek/libs/opencv/modules/core/src/matrix.cpp, line 2842
   [ERROR] [1500641324.950684392]: PROBLEM WITH THE DETECTOR!
2. OpenCV Error: Assertion failed (!_mv.fixedType() || _mv.empty() || _mv.type() == m.depth()) in split, file /home/abhsihek/libs/opencv/modules/core/src/convert.cpp, line 262
   [ERROR] [1500642358.248942443]: PROBLEM WITH THE DETECTOR!
3. OpenCV Error: Assertion failed (mtype == type0 || (CV_MAT_CN(mtype) == CV_MAT_CN(type0) && ((1 << type0) & fixedDepthMask) != 0)) in create, file /home/abhsihek/libs/opencv/modules/core/src/matrix.cpp, line 2599
   [ERROR] [1500642367.533972948]: PROBLEM WITH THE DETECTOR!

So whenever I run people_detector_node I get an error from the 3 mentioned ones.
Can you help me with the problem ? Any kind of help is appreciated.
Thank you.

How to explain the method GroundDetection::process() ?

How to explain the method GroundDetection::process() linking to https://github.com/apennisi/rgbd_person_tracking/blob/master/ground_detector/src/ground_detection.cpp#L82-L112 ? Is there any document about it ? Thank you.