Camera placement and controller working about person_following_bot

[kaushikbalasundar]

Makes sense, thanks for your prompt response!

[take2rohit]

• Our code doesn't require any camera parameters (intrinsic or extrinsic). So even an uncalibrated depth camera is sufficient to for the code to work
• The camera is to be mounted on top of Turtlebot. (Check out Fig. 3 of our research paper)
• Our aim was to keep the person about 1.5 meters away from the person. Hence the value 1.5 in p_error_l comes from here. We try to basically have a zero error in depth. ()
• The robot moves in such a way that the person always remains at the center of the frame. In our case, the frame size was (1280 x 720). Hence the center of the frame should be 1280/2 = 640. Therefore we have error in x-direction as p_error_a = x - 640

Thanks for the enhancement/ Hope this solves your problem. You can raise a pull request by making these as variables which will be easier for others to understand and maybe add in README.md as well