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README.md

groundHOG

This package uses cuda to extract HOG features and detect persons just using the RGB image of the Kinect.

Dependencies

  • libcudaHOG: see rwth_preception_people/3rd_party If this dependency is not met, the package will still compile but won't have any functionality. This is meant to not break the overall build process on systems without a NVIDIA graphics card.

Run

Parameters:

  • queue_size default = 20: The synchronisation queue size
  • model default = "": The model file, can be found in model/config
  • image_color default = /camera/rgb/image_color: The Kincet colour image
  • camera_info default = /camera/rgb/camera_info: The Kinect camera info
  • ground_plane default = "": The ground plane. Published by upper_body_detector. Will only be used if set. Is used to track speed up detections.
  • detections default = /groundHOG/detections: The generated data output topic
  • result_image default = /groundHOG/image: The generated image output topic showing the detections as boundingboxes.

rosrun:

rosrun rwth_ground_hog groundHOG [_parameter_name:=value]

roslaunch:

  • Using only the RGB image: roslaunch rwth_ground_hog ground_hog.launch [parameter_name:=value]
  • Using ground plane to enhance detection roslaunch rwth_ground_hog ground_hog_with_GP.launch [parameter_name:=value]

Credits

Original author: Patrick Sudowe, Computer Vision Group, RWTH Aachen
ROS integration: Christian Dondrup (@cdondrup), LCAS, University of Lincoln
SPENCER integration: Stefan Breuers, Computer Vision Group, RWTH Aachen