Skip to content

Repository with Pedestrian detection, tracking and following code for vizzy

Notifications You must be signed in to change notification settings

vislab-tecnico-lisboa/HumanAwareness

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 
 
 
 
 
 
 

Repository files navigation

Human Awareness_ROS

##THIS REPOSITORY IS UNDER HEAVY MAINTENANCE##

ROS Nodes

Detector - Performs pedestrian detection and/or head-and-shoulder detection using Aggregate Channel Features (AFC). Also extracts BVT histogram from each detection.

Tracker - Performs tracking of people using Multiple Model Adaptive Estimation, and color Re-ID for association. It's also responsible to receive feedback from RVIZ to select a target to follow. Also controls the gaze with an action.

Follower - Node responsible for achieving target positions and orientations.

Warning regarding compilation flags

On CMakeLists.txt, line 51. Change that line to one of these according to your version of gcc (I will find a way to use an IF to do it later):

gcc 4.6.x: SET(CMAKE_CXX_FLAGS_RELEASE " -lpthread -std=c++0x -Wall -O3")

Tested on Ubuntu 12.04, fresh installed!

gcc 4.8.x: SET(CMAKE_CXX_FLAGS_RELEASE " -lpthread -std=c++11 -Wall -O2 -finline-functions -fpredictive-commoning -fgcse-after-reload -ftree-slp-vectorize -ftree-loop-distribute-patterns -fipa-cp-clone -funswitch-loops -fvect-cost-model -ftree-partial-pre")

Tested on Ubuntu 14.04

(-std=c++11 vs -std=c++0x makes the difference)

(why so many flags on 4.8? because -O3 uses the same flags of -O2 plus all these flags and another one that is bugged on 4.8 and makes my detector segfault, so I removed it...)

About

Repository with Pedestrian detection, tracking and following code for vizzy

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published

Contributors 4

  •  
  •  
  •  
  •