Intel® RealSense™ ROS Person

Person detection and tracking package designed for for use with Intel RealSense cameras under ROS.

http://www.intel.com/realsense

http://wiki.ros.org/RealSense

Contributing to the Project

The Intel® RealSense™ ROS Person Project is developed and distributed under a BSD license as noted in licenses/License.txt.

By making a contribution to this project, I certify that:

(a) The contribution was created in whole or in part by me and I have the right to submit it under the open source license indicated in the file; or

(b) The contribution is based upon previous work that, to the best of my knowledge, is covered under an appropriate open source license and I have the right under that license to submit that work with modifications, whether created in whole or in part by me, under the same open source license (unless I am permitted to submit under a different license), as indicated in the file; or

(c) The contribution was provided directly to me by some other person who certified (a), (b) or (c) and I have not modified it.

(d) I understand and agree that this project and the contribution are public and that a record of the contribution (including all personal information I submit with it, including my sign-off) is maintained indefinitely and may be redistributed consistent with this project or the open source license(s) involved.

#Alpha Release

##Configuration:

Version	Best Known (kinetic)
OS	Ubuntu 16.04 LTS
Kernel	4.4.0-45-generic
librealsense_persontracking	beta2 installation script

##Building this Package from Source: Note: ROS beginners, please ensure that the basic ROS environment and catkin workspace has been set up by following the instructions at http://wiki.ros.org/ROS/Installation.

Prerequisite:Successful build and use of thus ROS package assumes you have already installed the Beta2 Person-Tracking Middleware.

Install the package and its dependent packages as follows:

• Clone the repo in the src directory of your catkin workspace.
• Install the dependent packages using the command rosdep install --from-paths src/realsense_person.
• Build the package using the command catkin_make.
• Validate the installation by running one of the launch files.

##Package Features: ###Launch files person_sample.launch

Launches the ROS R200 nodelet and the Person nodelet.

Note: This is a sample using the RealSense R200 camera. If you are using any other RealSense camera that is supported by the realsense_camera package, update the camera_type argument with the corresponding value.

###Subscribed Topics color/camera_info (sensor_msgs/CameraInfo)

depth/camera_info (sensor_msgs/CameraInfo)

depth/image_raw (sensor_msgs/Image)

color/image_raw (sensor_msgs/Image)

###Published Topics detection_data (realsense_person/PersonDetection)

Contains the basic information of all the people detected in a frame.

detection_image (sensor_msgs/Image)

Contains the detection_data overlayed on the corresponding color image frame.

###Services get_tracking_ids (realsense_person/GetTrackingId)

register_person (realsense_person/Register)

Assigns a unique recognition id for the specified person and saves the person's descriptor features.

recognize_person (realsense_person/Recognize)

Returns the recognition id if the specified person has been registered.

reinforce_person (realsense_person/Reinforce)

Saves a new set of descriptor features for the specified person.

###Static Parameters subscribe_rate (default: 30)

Controls the subscription rate of the color and depth topics.

###Dynamic Parameters detection_rate (default: 30)

Controls the publish rate of the detection topics.

tracking_rate (default: 30)

Controls the publish rate of the tracking topics.

enable_recognition (default: true)

Enables the recognition feature in the middleware.

###Unit Tests Refer to Unit Tests for the .test files.

Run the unit tests using the command rostest realsense_person <test file>.