Friday, April 20, 2012

ROS ppl_detection

ppl_detection is a ROS package for detecting and tracking people based on kinect data. Today i gave it a try and only encountered one problem.
To make it running do the following steps.

Checkout the source code in a directory {make sure this directory is added to the ROS_PATH}
Change the following line in kinect.launch 
<node pkg="rviz" name="rviz" type="rviz" args="--display-config $(find trainer)/kinect_detect.vcg"/>

to

<node pkg="rviz" name="rviz" type="rviz" args="--display-config $(find ppl_detection)/kinect_detect.vcg"/>



Change the folllowing line in kinect_detect.cpp 
"svm_models/" + model_name + ".model"
to

 "./svm_models/" + model_name + ".model"
Build the package
  • rosmake ppl_detection
  • roslaunch ppl_detection kinect_launch
  • rosrun ppl_detection kinect_detect
Hopefully you will see the rgb point cloud in rviz and if a person is in the scene you will see a bounding box with the text 'human'


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