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