bender_person.md

#bender_person

Package Summary

[TOC]

1. Nodes

Todos los tópicos/servicios/parámetros de éste package llevan el namespace: /bender/vision/<node_name>/.

1.1 Face Detection/Recognition

1.1.1 face_detector

1.1.1.1 Services

• ~detect_face (bender_srvs/FaceInfo)
  • foo.
  • bar.

1.1.1.2 Service Clients

• /bender/sensors/<cam_name>/get_image (bender_srvs/ImageService)
  • foo.
  • bar.

1.1.1.3 Parameters

• ~cam_name (string, default:"default_camera")
  • foo.
  • bar.

1.1.2 face_detector_display

1.1.2.1 Service Clients

• /bender/vision/face_detector/detect_face (bender_srvs/FaceInfo)
  • foo.
  • bar.

1.1.3 face_recognizer

1.1.3.1 Services

• ~add (bender_srvs/FaceRecognition)

  • foo.
  • bar.

• ~read_im_db (bender_srvs/FaceRecognition)

  • foo.
  • bar.

• ~recognize (bender_srvs/FaceRecognition)

  • foo.
  • bar.

• ~read_db (bender_srvs/FaceRecognition)

  • foo.
  • bar.

• ~save_db (bender_srvs/FaceRecognition)

  • foo.
  • bar.

• ~recognize_img (bender_srvs/FaceRecognition)

  • foo.
  • bar.

1.1.3.2 Service Clients

• /bender/vision/face_detector/detect_face (bender_srvs/FaceInfo)
  • foo.
  • bar.

1.2 Furniture Detection/Recognition

1.2.1 door_open_detector

1.2.1.1 Subscribed Topics

• /bender/sensors/kinect_waist/depth/image (sensor_msgs/Image)
  • foo.
  • bar.

1.2.1.2 Services

• ~is_open (bender_srvs/DoorDetector)
  • foo.
  • bar.

1.2.2 table_detector

1.2.2.1 Published Topics

• ~margin_cloud (sensor_msgs/PointCloud2)

  • foo.
  • bar.

• ~margin_segmentation (visualization_msgs/Marker)

  • foo.
  • bar.

• ~table (visualization_msgs/Marker)

  • foo.
  • bar.

• ~result (visualization_msgs/Marker)

  • foo.
  • bar.

1.2.2.2 Subscribed Topics

• <depth_topic> (sensor_msgs/PointCloud2)

  • foo.
  • bar.

• /tf

  • foo.
  • bar.

1.2.2.3 Services

• ~enable (bender_srvs/Onoff)

  • foo.
  • bar.

• ~detection_state (bender_srvs/TableDetector)

  • foo.
  • bar.

1.2.2.4 Parameters

• ~base_frame (string, default:"/bender/base_link")

  • foo.
  • bar.

• ~kinect_frame (string, default:"/bender/sensors/kinect_head_link")

  • foo.
  • bar.

• ~depth_frame (string, default:"/bender/sensors/kinect_head_depth_optical_frame")

  • foo.
  • bar.

• ~depth_topic (string, default:"/bender/sensors/kinect_head_depth/points")

  • foo.
  • bar.

• ~ground_th (double, default:0.0)

  • foo.
  • bar.

• ~margin_depth (double, default:2.0)

  • foo.
  • bar.

• ~margin_width (double, default:1.0)

  • foo.
  • bar.

• ~margin_resolution (double, default:100)

  • foo.
  • bar.

• ~margin_point_th (int, default:10)

  • foo.
  • bar.

• ~total_detections (int, default:50)

  • foo.
  • bar.

• ~min_detection_rate (double, default:70)

  • foo.
  • bar.

1.3 Person Tracking

1.3.1 kinect_tracker

1.3.2 kinect_occlusion_detector

1.3.3 laser_tracker

2. Usage / Utilities