├── .gitignore ├── RobotSounds ├── A.tar.gz ├── A │ ├── ABeepProcessing.aif │ ├── ABeepProcessing.ogg │ ├── ABeepProcessing.wav │ ├── ABeepProcessingFast.aif │ ├── ABeepProcessingFast.ogg │ ├── ABeepProcessingFast.wav │ ├── ABeepQuizical.aif │ ├── ABeepQuizical.ogg │ ├── ABeepQuizical.wav │ ├── AError1.aif │ ├── AError1.ogg │ ├── AError1.wav │ ├── AError2.aif │ ├── AError2.ogg │ ├── AError2.wav │ ├── AFailure.aif │ ├── AFailure.ogg │ ├── AFailure.wav │ ├── AFinished1.aif │ ├── AFinished1.ogg │ ├── AFinished1.wav │ ├── AFinished2.aif │ ├── AFinished2.ogg │ ├── AFinished2.wav │ ├── AHello.aif │ ├── AHello.ogg │ ├── AHello.wav │ ├── AHelloSlow.aif │ ├── AHelloSlow.ogg │ ├── AHelloSlow.wav │ ├── AHelp.aif │ ├── AHelp.ogg │ ├── AHelp.wav │ ├── AHey.aif │ ├── AHey.ogg │ ├── AHey.wav │ ├── AHmm1.aif │ ├── AHmm1.ogg │ ├── AHmm1.wav │ ├── AHmm2.aif │ ├── AHmm2.ogg │ ├── AHmm2.wav │ ├── AHuh1.aif │ ├── AHuh1.ogg │ ├── AHuh1.wav │ ├── AHuh2.aif │ ├── AHuh2.ogg │ ├── AHuh2.wav │ ├── AOK.aif │ ├── AOK.ogg │ ├── AOK.wav │ ├── AOneMomentPlease.aif │ ├── AOneMomentPlease.ogg │ ├── AOneMomentPlease.wav │ ├── AReady.aif │ ├── AReady.ogg │ ├── AReady.wav │ ├── ASorry.aif │ ├── ASorry.ogg │ ├── ASorry.wav │ ├── AThinking.aif │ ├── AThinking.mp3 │ ├── AThinking.ogg │ ├── AThinking.wav │ ├── ball.tgz │ └── description.txt ├── B.tar.gz ├── G.tar.gz ├── G │ ├── G01.aif │ ├── G01.ogg │ ├── G01.wav │ ├── G02.aif │ ├── G02.ogg │ ├── G02.wav │ ├── G03.aif │ ├── G03.ogg │ ├── G03.wav │ ├── G09.aif │ ├── G09.ogg │ ├── G09.wav │ ├── G10.aif │ ├── G10.ogg │ ├── G10.wav │ ├── G11.aif │ ├── G11.ogg │ ├── G11.wav │ ├── G12.aif │ ├── G12.ogg │ ├── G12.wav │ ├── G13.aif │ ├── G13.ogg │ ├── G13.wav │ ├── G14.aif │ ├── G14.ogg │ ├── G14.wav │ ├── G15.aif │ ├── G15.ogg │ ├── G15.wav │ ├── G16.aif │ ├── G16.ogg │ ├── G16.wav │ ├── G17.aif │ ├── G17.ogg │ ├── G17.wav │ ├── G18.aif │ ├── G18.ogg │ ├── G18.wav │ ├── G19.aif │ ├── G19.ogg │ ├── G19.wav │ ├── G20.aif │ ├── G20.ogg │ ├── G20.wav │ ├── G21.aif │ ├── G21.ogg │ ├── G21.wav │ ├── G22.aif │ ├── G22.ogg │ ├── G22.wav │ ├── G23.aif │ ├── G23.ogg │ ├── G23.wav │ ├── G24.aif │ ├── G24.ogg │ ├── G24.wav │ ├── G25.aif │ ├── G25.ogg │ ├── G25.wav │ ├── G26.aif │ ├── G26.ogg │ ├── G26.wav │ ├── G27a.aif │ ├── G27a.ogg │ ├── G27a.wav │ ├── G27b.aif │ ├── G27b.ogg │ ├── G27b.wav │ ├── G28.aif │ ├── G28.ogg │ ├── G28.wav │ ├── G29.aif │ ├── G29.ogg │ ├── G29.wav │ ├── G31.aif │ ├── G31.ogg │ ├── G31.wav │ ├── G32.aif │ ├── G32.ogg │ ├── G32.wav │ ├── G33.aif │ ├── G33.ogg │ ├── G33.wav │ ├── G34.aif │ ├── G34.ogg │ ├── G34.wav │ ├── G35.aif │ ├── G35.ogg │ ├── G35.wav │ ├── G36.aif │ ├── G36.ogg │ ├── G36.wav │ ├── G37.aif │ ├── G37.ogg │ ├── G37.wav │ ├── G38.aif │ ├── G38.ogg │ ├── G38.wav │ └── description.txt ├── I │ ├── I01.aif │ ├── I01.ogg │ ├── I01.wav │ ├── I01Double.ogg │ ├── I02.aif │ ├── I02.ogg │ ├── I02.wav │ ├── I03.aif │ ├── I03.ogg │ ├── I03.wav │ ├── I04.aif │ ├── I04.ogg │ ├── I04.wav │ ├── I05.aif │ ├── I05.ogg │ ├── I05.wav │ ├── I0h2.aif │ ├── I0h2.ogg │ ├── I0h2.wav │ ├── IAck1.aif │ ├── IAck1.ogg │ ├── IAck1.wav │ ├── IAha1.aif │ ├── IAha1.ogg │ ├── IAha1.wav │ ├── IAha1Vol.ogg │ ├── IAha2.aif │ ├── IAha2.ogg │ ├── IAha2.wav │ ├── IAha3.aif │ ├── IAha3.ogg │ ├── IAha3.wav │ ├── IAha3Vol.ogg │ ├── IAttention1.aif │ ├── IAttention1.ogg │ ├── IAttention1.wav │ ├── IAttention1Vol20.ogg │ ├── IAttn1.aif │ ├── IAttn1.ogg │ ├── IAttn1.wav │ ├── IAttn2.aif │ ├── IAttn2.ogg │ ├── IAttn2.wav │ ├── IAw1.aif │ ├── IAw1.ogg │ ├── IAw1.wav │ ├── IBatWarn1.aif │ ├── IBatWarn1.ogg │ ├── IBatWarn1.wav │ ├── IBatWarn1Vol.ogg │ ├── IBatWarn2.aif │ ├── IBatWarn2.ogg │ ├── IBatWarn2.wav │ ├── IBatWarn3.aif │ ├── IBatWarn3.ogg │ ├── IBatWarn3.wav │ ├── IBatWarn4.aif │ ├── IBatWarn4.ogg │ ├── IBatWarn4.wav │ ├── IDiag1.aif │ ├── IDiag1.ogg │ ├── IDiag1.wav │ ├── IDiag2.aif │ ├── IDiag2.ogg │ ├── IDiag2.wav │ ├── IDiag3.aif │ ├── IDiag3.ogg │ ├── IDiag3.wav │ ├── IDiagAlrt1.aif │ ├── IDiagAlrt1.ogg │ ├── IDiagAlrt1.wav │ ├── IDoh1.aif │ ├── IDoh1.ogg │ ├── IDoh1.wav │ ├── IErrgh1.aif │ ├── IErrgh1.ogg │ ├── IErrgh1.wav │ ├── IExcuseMe1.aif │ ├── IExcuseMe1.ogg │ ├── IExcuseMe1.wav │ ├── IExcuseMe1Vol.ogg │ ├── IExcuseMe2.aif │ ├── IExcuseMe2.ogg │ ├── IExcuseMe2.wav │ ├── IFailure1.aif │ ├── IFailure1.ogg │ ├── IFailure1.wav │ ├── IFailure1Vol.ogg │ ├── IFailure2.aif │ ├── IFailure2.ogg │ ├── IFailure2.wav │ ├── IFailure2Vol20.ogg │ ├── IFailure2Vol50.ogg │ ├── IFailure3.aif │ ├── IFailure3.ogg │ ├── IFailure3.wav │ ├── IGotIt.aif │ ├── IGotIt.ogg │ ├── IGotIt.wav │ ├── IGotIt1.aif │ ├── IGotIt1.ogg │ ├── IGotIt1.wav │ ├── IGotIt1Vol.ogg │ ├── IHello1.aif │ ├── IHello1.ogg │ ├── IHello1.wav │ ├── IHey1.aif │ ├── IHey1.ogg │ ├── IHey1.wav │ ├── IHey2.aif │ ├── IHey2.ogg │ ├── IHey2.wav │ ├── IHm1.aif │ ├── IHm1.ogg │ ├── IHm1.wav │ ├── IHm1Vol.ogg │ ├── IITried1.aif │ ├── IITried1.ogg │ ├── IITried1.wav │ ├── IMisc1.aif │ ├── IMisc1.ogg │ ├── IMisc1.wav │ ├── IMmm1.aif │ ├── IMmm1.ogg │ ├── IMmm1.wav │ ├── IMmm2.aif │ ├── IMmm2.ogg │ ├── IMmm2.wav │ ├── INoProb1.aif │ ├── INoProb1.ogg │ ├── INoProb1.wav │ ├── INoProb1Vol.ogg │ ├── IOh1.aif │ ├── IOh1.ogg │ ├── IOh1.wav │ ├── IOh1Vol.ogg │ ├── IOoh1.aif │ ├── IOoh1.ogg │ ├── IOoh1.wav │ ├── ISad1.aif │ ├── ISad1.ogg │ ├── ISad1.wav │ ├── ISad1Vol20.ogg │ ├── IThink1.aif │ ├── IThink1.ogg │ ├── IThink1.wav │ ├── IThink1Vol.ogg │ ├── IUh1.aif │ ├── IUh1.ogg │ ├── IUh1.wav │ ├── IWohoo1.aif │ ├── IWohoo1.ogg │ ├── IWohoo1.wav │ ├── IWohoo1Vol20.ogg │ ├── IWohoo2.aif │ ├── IWohoo2.ogg │ ├── IWohoo2.wav │ ├── IWohoo3.aif │ ├── IWohoo3.ogg │ ├── IWohoo3.wav │ ├── IWooHoo1.aif │ ├── IWooHoo1.ogg │ ├── IWooHoo1.wav │ └── description.txt ├── L.tar.gz ├── L │ ├── L02.aif │ ├── L02.ogg │ ├── L02.wav │ ├── L05-D#4.aif │ ├── L05-D#4.ogg │ ├── L05-D#4.wav │ ├── L08-B-E3.aif │ ├── L08-B-E3.ogg │ ├── L08-B-E3.wav │ ├── L08-E3.aif │ ├── L08-E3.ogg │ ├── L08-E3.wav │ ├── L11-G#5.aif │ ├── L11-G#5.ogg │ ├── L11-G#5.wav │ ├── L14-D#4.aif │ ├── L14-D#4.ogg │ ├── L14-D#4.wav │ ├── L17-E3.aif │ ├── L17-E3.ogg │ ├── L17-E3.wav │ ├── L20-D4.aif │ ├── L20-D4.ogg │ ├── L20-D4.wav │ ├── L24-E5.aif │ ├── L24-E5.ogg │ ├── L24-E5.wav │ ├── L26-G#3.aif │ ├── L26-G#3.ogg │ ├── L26-G#3.wav │ ├── L27-F#2.aif │ ├── L27-F#2.ogg │ ├── L27-F#2.wav │ └── description.txt ├── R2D2 │ ├── Concerned R2D2.mp3 │ ├── Determined R2D2.mp3 │ ├── Eureka R2D2.mp3 │ ├── Excited R2D2 (1).mp3 │ ├── Excited R2D2.mp3 │ ├── IFailure2.wav │ ├── IWohoo1.wav │ ├── Laughing R2D2.mp3 │ ├── LookR2D2.mp3 │ ├── LookR2D2Vol.mp3 │ ├── Playful R2D2.mp3 │ ├── Processing R2D2.mp3 │ ├── Proud R2D2.mp3 │ ├── R2D2.wav │ ├── R2D2a.wav │ ├── R2D2b.wav │ ├── R2D2c.wav │ ├── R2D2d.wav │ ├── R2D2e.wav │ ├── R2D2f.wav │ ├── SadR2D2.mp3 │ ├── Shocked R2D2.mp3 │ ├── Snappy R2D2.mp3 │ ├── SurprisedR2D2.mp3 │ ├── Unbelievable R2D2.mp3 │ ├── Unsure R2D2.mp3 │ └── VeryExcitedR2D2.mp3 └── listen.pls ├── autonomy_hri ├── CMakeLists.txt └── package.xml ├── autonomy_human ├── CMakeLists.txt ├── README.md ├── cascades │ ├── haarcascade_frontalface_alt.xml │ ├── haarcascade_frontalface_alt2.xml │ ├── haarcascade_frontalface_alt_tree.xml │ ├── haarcascade_frontalface_default.xml │ ├── haarcascade_profileface.xml │ └── haarcascades │ │ ├── haarcascade_eye.xml │ │ ├── haarcascade_eye_tree_eyeglasses.xml │ │ ├── haarcascade_frontalface_alt.xml │ │ ├── haarcascade_frontalface_alt2.xml │ │ ├── haarcascade_frontalface_alt_tree.xml │ │ ├── haarcascade_frontalface_default.xml │ │ ├── haarcascade_fullbody.xml │ │ ├── haarcascade_lefteye_2splits.xml │ │ ├── haarcascade_lowerbody.xml │ │ ├── haarcascade_mcs_eyepair_big.xml │ │ ├── haarcascade_mcs_eyepair_small.xml │ │ ├── haarcascade_mcs_leftear.xml │ │ ├── haarcascade_mcs_lefteye.xml │ │ ├── haarcascade_mcs_mouth.xml │ │ ├── haarcascade_mcs_nose.xml │ │ ├── haarcascade_mcs_rightear.xml │ │ ├── haarcascade_mcs_righteye.xml │ │ ├── haarcascade_mcs_upperbody.xml │ │ ├── haarcascade_profileface.xml │ │ ├── haarcascade_righteye_2splits.xml │ │ ├── haarcascade_smile.xml │ │ └── haarcascade_upperbody.xml ├── launch │ ├── body_detect.launch │ ├── demo.launch │ ├── demo_usbcam.launch │ ├── election_result_mode2.launch~ │ ├── face_detection.launch │ └── torso_detection.launch ├── msg │ ├── human.msg │ └── raw_detections.msg ├── package.xml └── src │ ├── autonomy_human.cpp │ └── autonomy_human │ ├── __init__.py │ └── msg │ ├── __init__.py │ └── _human.py ├── autonomy_leg_detection ├── CMakeLists.txt ├── include │ └── polarcord.h ├── launch │ └── leg_detection.launch ├── package.xml └── src │ └── leg_detection.cpp └── likelihood_grid ├── CMakeLists.txt ├── cfg ├── Test.cfg └── rviz │ └── demo.rviz ├── hark_patches └── hark_indigo_common_msgs_2_1_0_autonomylab.diff ├── include └── polarcord.h ├── launch ├── demo.launch ├── likelihood.launch ├── lms111-horizontal.launch ├── openni.launch ├── pc-demo.launch ├── play_bag.launch ├── record_bag.launch └── robot_demo.launch ├── package.xml └── src ├── 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-------------------------------------------------------------------------------- 1 | [playlist] 2 | NumberOfEntries=1 3 | File1=http://radio.bia2.com:8000/ 4 | -------------------------------------------------------------------------------- /autonomy_hri/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(autonomy_hri) 3 | find_package(catkin REQUIRED) 4 | catkin_metapackage() 5 | -------------------------------------------------------------------------------- /autonomy_hri/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | autonomy_hri 4 | 0.0.0 5 | The autonomy_hri package 6 | 7 | 8 | 9 | 10 | autolab 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | catkin 43 | autonomy_human 44 | autonomy_leg_detection 45 | likelihhood_grid 46 | cartesian_likelihhood_field 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | -------------------------------------------------------------------------------- /autonomy_human/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(autonomy_human) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | cv_bridge 6 | geometry_msgs 7 | image_transport 8 | roscpp 9 | std_msgs 10 | sensor_msgs 11 | message_generation 12 | ) 13 | 14 | find_package(OpenCV) 15 | 16 | add_message_files( 17 | FILES 18 | human.msg 19 | raw_detections.msg 20 | ) 21 | 22 | generate_messages( 23 | DEPENDENCIES 24 | std_msgs 25 | sensor_msgs 26 | ) 27 | 28 | catkin_package( 29 | #INCLUDE_DIRS include 30 | #LIBRARIES autonomy_human 31 | CATKIN_DEPENDS cv_bridge geometry_msgs image_transport roscpp std_msgs 32 | DEPENDS system_lib opencv message_runtime 33 | ) 34 | 35 | 36 | include_directories(include 37 | ${catkin_INCLUDE_DIRS} 38 | ${OpenCV_INCLUDE_DIRS} 39 | ) 40 | 41 | add_executable(autonomy_human src/autonomy_human.cpp) 42 | add_dependencies(autonomy_human ${autonomy_human_EXPORTED_TARGETS}) 43 | 44 | target_link_libraries(autonomy_human 45 | ${catkin_LIBRARIES} 46 | ${OpenCV_LIBRARIES} 47 | ) 48 | -------------------------------------------------------------------------------- /autonomy_human/README.md: -------------------------------------------------------------------------------- 1 | ## autonomy_human 2 | 3 | "autonomy_human" is a [ROS](http://ros.org) package that includes the Human Robot Interaction code developed for the following paper: 4 | 5 | > Valiallah(Mani) Monajjemi, Jens Wawerla, Richard T. Vaughan, and Greg Mori. "HRI in The Sky: Creating and 6 | > Commanding Teams of UAVs With a Vision-Mediated Gestural Unterface", In Proceedings of the IEEE 7 | > International Conference on Intelligent Robots and Systems (IROS'13), Tokyo, Japan, November 2013. 8 | 9 | In brief this package provides the following functionalities: 10 | 11 | - Human face tracking: OpenCV based face detection combined with a Kalman filter to robustly track a single human's face. The face tracker also reports the quality of detected face, AKA as the "face score". (more info in [1]) 12 | - Optical flow calculation with stabilization to be used for hand wave gesture recognition 13 | - Probabilistic skin segmentation for tracked user [Experimental] 14 | 15 | Please refer to the paper for more information about the implementation details. This package is written by [Mani Monajjemi](http://sfu.ca/~mmonajje) and is released under [BSD](http://www.opensource.org/licenses/BSD-3-Clause) licence. 16 | 17 | ### Notes on Compiling 18 | 19 | This package has external dependency on [OpenCV](http://opencv.org/) which can be handled by `rosdep`. This package also depends on ROS packages [cv_bridge](http://wiki.ros.org/cv_bridge) and [image_transport](http://wiki.ros.org/image_transport). You can alternatively use the OpenCV binary packages shipped with ROS: `ros-*-opencv2` and `ros-*-vision-opencv`. For example for ROS Groovy on Ubuntu: `sudo apt-get install ros-groovy-opencv2 ros-groovy-vision-opencv`. To compile package simply run `rosmake autonomy_human`. 20 | 21 | #### Execution 22 | 23 | You need to execute the `autonomy_human` executable with appropriate parameters (described in the next section). You can look into `launch/demo_usbcam.launch` for sample configuration. 24 | 25 | ### Subscribed Topics 26 | 27 | - `input_rgb_image`: The input image stream of type [image transport](http://www.ros.org/wiki/image_transport). 28 | 29 | ### Published Topics 30 | 31 | - `output_rgb_debug`, `output_rgb_optical` and `output_rgb_skin`: Debug image streams of type [image transport](http://www.ros.org/wiki/image_transport) for debug, skin and optical flow respectively. 32 | 33 | - `human`: Information about the detected human. The type of this message is custom and is defined in `msg/human.msg` file. The details are as follows: 34 | 35 | - `header`: Standard ROS header. 36 | - `numFaces`: The number of detected faces in the current frame (regardless of tracker's state). The type is `uint32`. 37 | - `faceROI`: The bounding box for the currently tracked face in pixels in image coordinate frame. The type is [sensor_msgs/RegionOfInterest](http://http://docs.ros.org/api/sensor_msgs/html/msg/RegionOfInterest.html). 38 | - `faceScore`: The quality of the currently tracked face. Please refer to the paper or [1] for more details. The type is `uint32`. 39 | - `flowScore`: This `float32[2]` array represents the average optical flow (after stabilization) for all pixels in the left and right regions around the tracked face. These values can be used to detect human hand waves by thresholding. You may also need to use low-pass or other type of filters for more robust detection. (TBA: Sample Filter Code) 40 | 41 | ### Parameters 42 | 43 | - `~debug_mode`: Bits of this integer value determine different debug or information streams to be published: (Default is set to `2`) 44 | - bit 0: Unused 45 | - bit 1: Enables publishing the general debug image to `output_rgb_debug` 46 | - bit 2: Enables publishing the skin segmentation result to `output_rgb_skin` 47 | - bit 3: Unused 48 | - bit 4: Enables publishing the optical flow calculation result to `output_rgb_optical` 49 | 50 | - `~cascade_file`: The absolute path to the Cascade Classifier `XML` or `YAML` file. "Frontal Face" databases from `OpenCV` is shipped with this package. Please consult the `launch/demo_usbcam.launch` file for how to use those. More information about cascade classifiers in OpenCV can be found [here](http://http://docs.opencv.org/modules/objdetect/doc/cascade_classification.html). 51 | 52 | - `~profile_hack_enabled`: Determines if the detector should look for the `profile` faces as well as `frontal` faces. The default value is `False`. 53 | 54 | - `~cascade_profile_file`: Similar to `~cascade_file`. Should only be set if `~profile_hack_enabled` is set to `True` 55 | 56 | - `~skin_enabled`: Determines if probabilistic skin segmentation should be performed. The default value is `False`. If set to `True`, the pixels in the detected facial area would be first thresholded, then used to determine the human skin's histogram. This histogram is then used to determine probabilistically (using a Bayesian filter) the likelihood of each pixel in the image to be from human's skin. The `output_rgb_skin` is a grayscale image created from that probability distribution. 57 | 58 | - `~gesture_enabled`: Enables the optical flow calculation in two regions around human's face. Default is `False`. 59 | 60 | - `~flowstablize_mode`: The flow stabilization method to use. Default is `0`. Possible values: 61 | - `0`: Disabled 62 | - `1`: Median filter based, as described in the paper. 63 | - `2`: (Very Experimental), do the stabilization by calculating camera homography transformation from Optical Flow. 64 | 65 | - `~initial_min_score`: Minimum quality of detected face to be considered as legitimate. Default is `5`. 66 | 67 | - `~initial_detect_frames`: The minimum number of consecutive frames that the face should be detected before starting the face tracker. Default is `6`. 68 | 69 | - `~initial_reject_frames`: If the face is being tracked by the Kalman filter but is not be detected for this number of frames, the face is considered lost. Default is `6`. 70 | 71 | - `~min_flow`: Value of min cut-off value for optical flow. Default is `10`. Start with smaller values. 72 | 73 | - `~min_face_width`: Minimum acceptable width for detected face. Default is `12` pixels. 74 | 75 | - `~min_face_height`: Minimum acceptable height for detected face. Default is `18` pixels. 76 | 77 | - `~max_face_width`: Maximum acceptable width for detected face. Default is `60` pixels. 78 | 79 | - `~max_face_height`: Maximum acceptable height for detected face. Default is `80` pixels. 80 | 81 | **Note**: The bigger the range for face detector's `width` and `height`, the more computation intensive the face detection would be. 82 | 83 | - `meas_cov` and `proc_cov`: Kalman filter parameters for measurement and process covariances. Defaults are 1.0 and 0.05 respectively. 84 | 85 | ### Notes on `demo_usbcam.launch` file 86 | 87 | To launch this you need to install ROS packages [usb_cam](http://wiki.ros.org/usb_cam) and [image_pipeline](http://wiki.ros.org/image_pipeline). For groovy you can `sudo aptitude install ros-groovy-usb-cam ros-groovy-image-pipeline`. You may also need to modify `usb_cam`'s camera parameters for your particular camera. 88 | 89 | ### References 90 | 91 | [1] Alex Couture-Beil, Richard T. Vaughan, and Greg Mori. "Selecting and commanding individual robots in a vision-based multi-robot system", In Proceedings of the Canadian Conference on Computer and Robot Vision, May 2010. 92 | -------------------------------------------------------------------------------- /autonomy_human/cascades/haarcascades/haarcascade_mcs_leftear.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AutonomyLab/autonomy_hri/3c1a495c77645d6514b7f184cdc6efa7bced23a6/autonomy_human/cascades/haarcascades/haarcascade_mcs_leftear.xml -------------------------------------------------------------------------------- /autonomy_human/cascades/haarcascades/haarcascade_mcs_rightear.xml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/AutonomyLab/autonomy_hri/3c1a495c77645d6514b7f184cdc6efa7bced23a6/autonomy_human/cascades/haarcascades/haarcascade_mcs_rightear.xml -------------------------------------------------------------------------------- /autonomy_human/launch/body_detect.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /autonomy_human/launch/demo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /autonomy_human/launch/demo_usbcam.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | -------------------------------------------------------------------------------- /autonomy_human/launch/election_result_mode2.launch~: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | -------------------------------------------------------------------------------- /autonomy_human/launch/face_detection.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 39 | 40 | -------------------------------------------------------------------------------- /autonomy_human/launch/torso_detection.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 42 | 43 | -------------------------------------------------------------------------------- /autonomy_human/msg/human.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | 3 | uint32 numFaces 4 | sensor_msgs/RegionOfInterest faceROI 5 | uint32 faceScore 6 | float32[2] flowScore 7 | -------------------------------------------------------------------------------- /autonomy_human/msg/raw_detections.msg: -------------------------------------------------------------------------------- 1 | Header header 2 | 3 | sensor_msgs/RegionOfInterest[] detections 4 | 5 | -------------------------------------------------------------------------------- /autonomy_human/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | autonomy_human 4 | 1.0.0 5 | autonomy_human -- OpenCV based human face detector, tracker, hand-wave gesture recognizer with Optical Flow based ego-motion cancellation. 6 | 7 | Mani Monajjemi 8 | BSD 9 | https://github.com/AutonomyLab/autonomy_hri/tree/master/autonomy_human 10 | Mani Monajjemi 11 | 12 | catkin 13 | cv_bridge 14 | geometry_msgs 15 | image_transport 16 | roscpp 17 | std_msgs 18 | message_generation 19 | message_runtime 20 | cv_bridge 21 | geometry_msgs 22 | image_transport 23 | roscpp 24 | std_msgs 25 | sensor_msgs 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /autonomy_human/src/autonomy_human/__init__.py: -------------------------------------------------------------------------------- 1 | #autogenerated by ROS python message generators -------------------------------------------------------------------------------- /autonomy_human/src/autonomy_human/msg/__init__.py: -------------------------------------------------------------------------------- 1 | from ._human import * 2 | -------------------------------------------------------------------------------- /autonomy_human/src/autonomy_human/msg/_human.py: -------------------------------------------------------------------------------- 1 | """autogenerated by genpy from autonomy_human/human.msg. Do not edit.""" 2 | import sys 3 | python3 = True if sys.hexversion > 0x03000000 else False 4 | import genpy 5 | import struct 6 | 7 | import sensor_msgs.msg 8 | import std_msgs.msg 9 | 10 | class human(genpy.Message): 11 | _md5sum = "b1101ef84b709757da9ca210281612a1" 12 | _type = "autonomy_human/human" 13 | _has_header = True #flag to mark the presence of a Header object 14 | _full_text = """Header header 15 | 16 | uint32 numFaces 17 | sensor_msgs/RegionOfInterest faceROI 18 | uint32 faceScore 19 | float32[2] flowScore 20 | 21 | ================================================================================ 22 | MSG: std_msgs/Header 23 | # Standard metadata for higher-level stamped data types. 24 | # This is generally used to communicate timestamped data 25 | # in a particular coordinate frame. 26 | # 27 | # sequence ID: consecutively increasing ID 28 | uint32 seq 29 | #Two-integer timestamp that is expressed as: 30 | # * stamp.secs: seconds (stamp_secs) since epoch 31 | # * stamp.nsecs: nanoseconds since stamp_secs 32 | # time-handling sugar is provided by the client library 33 | time stamp 34 | #Frame this data is associated with 35 | # 0: no frame 36 | # 1: global frame 37 | string frame_id 38 | 39 | ================================================================================ 40 | MSG: sensor_msgs/RegionOfInterest 41 | # This message is used to specify a region of interest within an image. 42 | # 43 | # When used to specify the ROI setting of the camera when the image was 44 | # taken, the height and width fields should either match the height and 45 | # width fields for the associated image; or height = width = 0 46 | # indicates that the full resolution image was captured. 47 | 48 | uint32 x_offset # Leftmost pixel of the ROI 49 | # (0 if the ROI includes the left edge of the image) 50 | uint32 y_offset # Topmost pixel of the ROI 51 | # (0 if the ROI includes the top edge of the image) 52 | uint32 height # Height of ROI 53 | uint32 width # Width of ROI 54 | 55 | # True if a distinct rectified ROI should be calculated from the "raw" 56 | # ROI in this message. Typically this should be False if the full image 57 | # is captured (ROI not used), and True if a subwindow is captured (ROI 58 | # used). 59 | bool do_rectify 60 | 61 | """ 62 | __slots__ = ['header','numFaces','faceROI','faceScore','flowScore'] 63 | _slot_types = ['std_msgs/Header','uint32','sensor_msgs/RegionOfInterest','uint32','float32[2]'] 64 | 65 | def __init__(self, *args, **kwds): 66 | """ 67 | Constructor. Any message fields that are implicitly/explicitly 68 | set to None will be assigned a default value. The recommend 69 | use is keyword arguments as this is more robust to future message 70 | changes. You cannot mix in-order arguments and keyword arguments. 71 | 72 | The available fields are: 73 | header,numFaces,faceROI,faceScore,flowScore 74 | 75 | :param args: complete set of field values, in .msg order 76 | :param kwds: use keyword arguments corresponding to message field names 77 | to set specific fields. 78 | """ 79 | if args or kwds: 80 | super(human, self).__init__(*args, **kwds) 81 | #message fields cannot be None, assign default values for those that are 82 | if self.header is None: 83 | self.header = std_msgs.msg.Header() 84 | if self.numFaces is None: 85 | self.numFaces = 0 86 | if self.faceROI is None: 87 | self.faceROI = sensor_msgs.msg.RegionOfInterest() 88 | if self.faceScore is None: 89 | self.faceScore = 0 90 | if self.flowScore is None: 91 | self.flowScore = [0.,0.] 92 | else: 93 | self.header = std_msgs.msg.Header() 94 | self.numFaces = 0 95 | self.faceROI = sensor_msgs.msg.RegionOfInterest() 96 | self.faceScore = 0 97 | self.flowScore = [0.,0.] 98 | 99 | def _get_types(self): 100 | """ 101 | internal API method 102 | """ 103 | return self._slot_types 104 | 105 | def serialize(self, buff): 106 | """ 107 | serialize message into buffer 108 | :param buff: buffer, ``StringIO`` 109 | """ 110 | try: 111 | _x = self 112 | buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) 113 | _x = self.header.frame_id 114 | length = len(_x) 115 | if python3 or type(_x) == unicode: 116 | _x = _x.encode('utf-8') 117 | length = len(_x) 118 | buff.write(struct.pack(' 6 | 7 | class PolarPose 8 | { 9 | public: 10 | float range; 11 | float angle; 12 | float var_range; 13 | float var_angle; 14 | float cov; 15 | PolarPose(): range(0.0), angle(0.0) {;} 16 | PolarPose(const float r, const float a): range(r), angle(a) 17 | { 18 | angle = (float) angles::normalize_angle(angle); 19 | } 20 | inline void fromCart(const float x, const float y) 21 | { 22 | range = sqrtf((x * x) + (y * y)); 23 | angle = (float) angles::normalize_angle(atan2f(y, x)); 24 | } 25 | inline void toCart(double &x, double &y) 26 | { 27 | x = range * cos(angle); 28 | y = range * sin(angle); 29 | } 30 | 31 | inline void toCart(float &x, float &y) 32 | { 33 | x = range * cosf(angle); 34 | y = range * sinf(angle); 35 | } 36 | 37 | inline float distance(const float r, const float a) 38 | { 39 | float x2, y2; 40 | float x1 = r * cos(a); 41 | float y1 = r * sin(a); 42 | 43 | this->toCart(x2, y2); 44 | 45 | return sqrtf((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2)); 46 | } 47 | 48 | inline float distance(PolarPose p) 49 | { 50 | float x2, y2; 51 | float x1 = p.range * cos(p.angle); 52 | float y1 = p.range * sin(p.angle); 53 | 54 | this->toCart(x2, y2); 55 | 56 | return sqrtf((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2)); 57 | } 58 | 59 | inline void setZeroVar() 60 | { 61 | this->var_angle = 1e-6; 62 | this->var_range = 1e-6; 63 | } 64 | }; 65 | 66 | 67 | #endif 68 | 69 | -------------------------------------------------------------------------------- /autonomy_leg_detection/launch/leg_detection.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /autonomy_leg_detection/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | autonomy_leg_detection 4 | 0.0.0 5 | Leg detection package based on miarn_ros library 6 | 7 | Shokoofeh Pourmehr 8 | BSD 9 | 10 | 11 | 12 | catkin 13 | cv_bridge 14 | geometry_msgs 15 | miarn_ros 16 | roscpp 17 | std_msgs 18 | cv_bridge 19 | geometry_msgs 20 | miarn_ros 21 | roscpp 22 | std_msgs 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /likelihood_grid/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(likelihood_grid) 3 | find_package(catkin REQUIRED COMPONENTS 4 | geometry_msgs 5 | sensor_msgs 6 | hark_msgs 7 | tf 8 | autonomy_human 9 | roscpp 10 | dynamic_reconfigure 11 | rospy 12 | ) 13 | 14 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") 15 | 16 | #add dynamic reconfigure api 17 | generate_dynamic_reconfigure_options( 18 | cfg/Test.cfg 19 | ) 20 | 21 | # make sure configure headers are built before any node using them 22 | find_package(Boost REQUIRED COMPONENTS 23 | system 24 | ) 25 | 26 | set(CMAKE_BUILD_TYPE Debug) 27 | 28 | catkin_package( 29 | INCLUDE_DIRS include 30 | CATKIN_DEPENDS hark_msgs geometry_msgs sensor_msgs tf autonomy_human 31 | DEPENDS system_lib opencv 32 | ) 33 | 34 | include_directories(include 35 | ${catkin_INCLUDE_DIRS} 36 | ${OpenCV_INCLUDE_DIRS} 37 | ${Boost_INCLUDE_DIRS} 38 | ) 39 | 40 | add_executable(likelihood_grid_node src/likelihood_grid_node.cpp src/likelihood_grid.cpp src/grid.cpp ) 41 | add_executable(leg_grid_node src/leg_grid_node.cpp src/cleggrid.cpp src/grid.cpp ) 42 | add_executable(sound_grid_node src/sound_grid_node.cpp src/csoundgrid.cpp src/grid.cpp ) 43 | 44 | add_executable(vision_grid_node src/vision_grid_node.cpp src/cvisiongrid.cpp src/grid.cpp ) 45 | 46 | add_executable(human_grid_node src/human_grid_node.cpp src/chumangrid.cpp src/grid.cpp) 47 | add_executable(test_node src/test.cpp ) 48 | add_dependencies(test_node ${PROJECT_NAME}_gencfg) 49 | 50 | 51 | ## Specify libraries to link a library or executable target against 52 | target_link_libraries(likelihood_grid_node 53 | ${catkin_LIBRARIES} 54 | ${OpenCV_LIBRARIES} 55 | ${Boost_LIBRARIES} 56 | ) 57 | 58 | target_link_libraries(leg_grid_node 59 | ${catkin_LIBRARIES} 60 | ${OpenCV_LIBRARIES} 61 | ${Boost_LIBRARIES} 62 | ) 63 | 64 | target_link_libraries(sound_grid_node 65 | ${catkin_LIBRARIES} 66 | ${OpenCV_LIBRARIES} 67 | ${Boost_LIBRARIES} 68 | ) 69 | 70 | target_link_libraries(vision_grid_node 71 | ${catkin_LIBRARIES} 72 | ${OpenCV_LIBRARIES} 73 | ${Boost_LIBRARIES} 74 | ) 75 | 76 | target_link_libraries(human_grid_node 77 | ${catkin_LIBRARIES} 78 | ${OpenCV_LIBRARIES} 79 | ${Boost_LIBRARIES} 80 | ) 81 | 82 | target_link_libraries(test_node 83 | ${catkin_LIBRARIES} 84 | ${OpenCV_LIBRARIES} 85 | ${Boost_LIBRARIES} 86 | ) 87 | 88 | 89 | 90 | -------------------------------------------------------------------------------- /likelihood_grid/cfg/Test.cfg: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | PACKAGE = "likelihood_grid" 4 | 5 | from dynamic_reconfigure.parameter_generator_catkin import * 6 | 7 | 8 | gen = ParameterGenerator() 9 | 10 | gen.add("leg1_x", double_t, 0, "X Coordinate of leg #1", 1.5, -10, 10) 11 | gen.add("leg1_y", double_t, 0, "Y Coordinate of leg #1", 1.5, -10, 10) 12 | gen.add("show_leg1", bool_t, 0, "Show Leg 1", True) 13 | 14 | gen.add("leg2_x", double_t, 0, "X Coordinate of leg #2", 3.5, -10, 10) 15 | gen.add("leg2_y", double_t, 0, "Y Coordinate of leg #2", 5.5, -10, 10) 16 | gen.add("show_leg2", bool_t, 0, "Show Leg 2", True) 17 | 18 | gen.add("leg3_x", double_t, 0, "X Coordinate of leg #3", -3.5, -10, 10) 19 | gen.add("leg3_y", double_t, 0, "Y Coordinate of leg #3", -5.5, -10, 10) 20 | gen.add("show_leg3", bool_t, 0, "Show Leg 3", True) 21 | 22 | gen.add("torso_height", int_t, 0, "height of ROI", 120, 0, 480) 23 | gen.add("torso_width", int_t, 0, "width of ROI", 160, 0, 640) 24 | gen.add("torso_x", int_t, 0, "leftmost pixel of ROI", 200, 0, 480) 25 | gen.add("torso_y", int_t, 0, "topmost pixel of ROI", 125, 0, 640) 26 | gen.add("show_torso", bool_t, 0, "Show Torso", True) 27 | 28 | gen.add("sound_pwr", double_t, 0, "sound source power", 30.0, 25.0, 50.0) 29 | # gen.add("sound_x", double_t, 0, "sound x direction", 0.67, -1.0, 1.0) 30 | gen.add("sound_y", double_t, 0, "sound y direction", -0.67, -1.0, 1.0) 31 | gen.add("sound_dir", double_t, 0, "sound azimuth", -45.0, -180.0, 180.0) 32 | gen.add("show_sound", bool_t, 0, "Show Sound", True) 33 | 34 | gen.add("leg_weight", double_t, 0, "leg weight for integration", 1.0, 0.0, 10.0) 35 | gen.add("sound_weight", double_t, 0, "sound weight for integration", 2.0, 0.0, 10.0) 36 | gen.add("torso_weight", double_t, 0, "torso weight for integration", 3.0, 0.0, 10.0) 37 | 38 | 39 | exit(gen.generate(PACKAGE, "test", "Test")) 40 | -------------------------------------------------------------------------------- /likelihood_grid/cfg/rviz/demo.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 0 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /PointStamped1 8 | - /MarkerArray1 9 | - /MarkerArray2 10 | Splitter Ratio: 0.354894 11 | Tree Height: 767 12 | - Class: rviz/Selection 13 | Name: Selection 14 | - Class: rviz/Tool Properties 15 | Expanded: 16 | - /2D Pose Estimate1 17 | - /2D Nav Goal1 18 | - /Publish Point1 19 | Name: Tool Properties 20 | Splitter Ratio: 0.588679 21 | - Class: rviz/Views 22 | Expanded: 23 | - /Current View1 24 | Name: Views 25 | Splitter Ratio: 0.5 26 | - Class: rviz/Time 27 | Experimental: false 28 | Name: Time 29 | SyncMode: 0 30 | SyncSource: Image 31 | Visualization Manager: 32 | Class: "" 33 | Displays: 34 | - Alpha: 0.3 35 | Cell Size: 1 36 | Class: rviz/Grid 37 | Color: 0; 0; 0 38 | Enabled: true 39 | Line Style: 40 | Line Width: 0.03 41 | Value: Lines 42 | Name: Grid 43 | Normal Cell Count: 0 44 | Offset: 45 | X: 0 46 | Y: 0 47 | Z: 0 48 | Plane: XY 49 | Plane Cell Count: 80 50 | Reference Frame: 51 | Value: true 52 | - Alpha: 1 53 | Autocompute Intensity Bounds: true 54 | Autocompute Value Bounds: 55 | Max Value: 10 56 | Min Value: -10 57 | Value: true 58 | Axis: Z 59 | Channel Name: intensity 60 | Class: rviz/LaserScan 61 | Color: 0; 85; 255 62 | Color Transformer: FlatColor 63 | Decay Time: 0 64 | Enabled: true 65 | Invert Rainbow: false 66 | Max Color: 255; 255; 255 67 | Max Intensity: 720 68 | Min Color: 0; 0; 0 69 | Min Intensity: 239 70 | Name: LaserScan 71 | Position Transformer: XYZ 72 | Queue Size: 10 73 | Selectable: true 74 | Size (Pixels): 3 75 | Size (m): 0.1 76 | Style: Points 77 | Topic: /lms111/scan 78 | Use Fixed Frame: true 79 | Use rainbow: true 80 | Value: true 81 | - Class: rviz/Axes 82 | Enabled: true 83 | Length: 1 84 | Name: Axes 85 | Radius: 0.1 86 | Reference Frame: 87 | Value: true 88 | - Arrow Length: 0.9 89 | Class: rviz/PoseArray 90 | Color: 255; 0; 0 91 | Enabled: false 92 | Name: PoseArray 93 | Topic: /legs 94 | Value: false 95 | - Arrow Length: 1 96 | Class: rviz/PoseArray 97 | Color: 255; 0; 0 98 | Enabled: false 99 | Name: PoseArray 100 | Topic: /predicted_legs 101 | Value: false 102 | - Alpha: 0.75 103 | Class: rviz/PointStamped 104 | Color: 204; 41; 204 105 | Enabled: true 106 | History Length: 1 107 | Name: PointStamped 108 | Radius: 0.75 109 | Topic: /maximum_probability 110 | Value: true 111 | - Alpha: 1 112 | Class: rviz/Map 113 | Color Scheme: map 114 | Draw Behind: false 115 | Enabled: true 116 | Name: Map 117 | Topic: /human/grid 118 | Value: true 119 | - Class: rviz/Image 120 | Enabled: true 121 | Image Topic: /person_detection/viz 122 | Max Value: 1 123 | Median window: 5 124 | Min Value: 0 125 | Name: Image 126 | Normalize Range: true 127 | Queue Size: 2 128 | Transport Hint: raw 129 | Value: true 130 | - Alpha: 0.6 131 | Class: rviz/PointStamped 132 | Color: 255; 0; 0 133 | Enabled: true 134 | History Length: 1 135 | Name: PointStamped 136 | Radius: 1.2 137 | Topic: /human/maximum_probability 138 | Value: true 139 | - Class: rviz/Marker 140 | Enabled: true 141 | Marker Topic: /leg/marker 142 | Name: Marker 143 | Namespaces: 144 | leg_markers: true 145 | Queue Size: 100 146 | Value: true 147 | - Class: rviz/MarkerArray 148 | Enabled: true 149 | Marker Topic: /torso/marker 150 | Name: MarkerArray 151 | Namespaces: 152 | torso_markers: true 153 | Queue Size: 100 154 | Value: true 155 | - Class: rviz/MarkerArray 156 | Enabled: true 157 | Marker Topic: /sound/marker 158 | Name: MarkerArray 159 | Namespaces: 160 | sound_markers: true 161 | Queue Size: 100 162 | Value: true 163 | Enabled: true 164 | Global Options: 165 | Background Color: 127; 127; 127 166 | Fixed Frame: base_footprint 167 | Frame Rate: 10 168 | Name: root 169 | Tools: 170 | - Class: rviz/Interact 171 | Hide Inactive Objects: true 172 | - Class: rviz/MoveCamera 173 | - Class: rviz/Select 174 | - Class: rviz/FocusCamera 175 | - Class: rviz/Measure 176 | - Class: rviz/SetInitialPose 177 | Topic: /initialpose 178 | - Class: rviz/SetGoal 179 | Topic: /move_base_simple/goal 180 | - Class: rviz/PublishPoint 181 | Single click: true 182 | Topic: /clicked_point 183 | Value: true 184 | Views: 185 | Current: 186 | Class: rviz/Orbit 187 | Distance: 38.2176 188 | Enable Stereo Rendering: 189 | Stereo Eye Separation: 0.06 190 | Stereo Focal Distance: 1 191 | Swap Stereo Eyes: false 192 | Value: false 193 | Focal Point: 194 | X: 0.670823 195 | Y: 0.101576 196 | Z: -1.29127 197 | Name: Current View 198 | Near Clip Distance: 0.01 199 | Pitch: 1.3048 200 | Target Frame: 201 | Value: Orbit (rviz) 202 | Yaw: 3.13505 203 | Saved: ~ 204 | Window Geometry: 205 | Displays: 206 | collapsed: false 207 | Height: 1000 208 | Hide Left Dock: false 209 | Hide Right Dock: true 210 | Image: 211 | collapsed: false 212 | QMainWindow State: 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213 | Selection: 214 | collapsed: false 215 | Time: 216 | collapsed: false 217 | Tool Properties: 218 | collapsed: false 219 | Views: 220 | collapsed: true 221 | Width: 1215 222 | X: 535 223 | Y: 14 224 | -------------------------------------------------------------------------------- /likelihood_grid/include/polarcord.h: -------------------------------------------------------------------------------- 1 | #ifndef _POLARCORD_H 2 | #define _POLARCORD_H 3 | 4 | #define _USE_MATH_DEFINES 5 | #include 6 | 7 | class PolarPose 8 | { 9 | public: 10 | float range; 11 | float angle; 12 | float var_range; 13 | float var_angle; 14 | float cov; 15 | PolarPose(): range(0.0), angle(0.0) {;} 16 | PolarPose(const float r, const float a): range(r), angle(a) 17 | { 18 | angle = (float) angles::normalize_angle(angle); 19 | } 20 | inline void fromCart(const float x, const float y) 21 | { 22 | range = sqrtf((x * x) + (y * y)); 23 | angle = (float) angles::normalize_angle(atan2f(y, x)); 24 | } 25 | inline void toCart(double &x, double &y) 26 | { 27 | x = range * cos(angle); 28 | y = range * sin(angle); 29 | } 30 | 31 | inline void toCart(float &x, float &y) 32 | { 33 | x = range * cosf(angle); 34 | y = range * sinf(angle); 35 | } 36 | 37 | inline float distance(const float r, const float a) 38 | { 39 | float x2, y2; 40 | float x1 = r * cos(a); 41 | float y1 = r * sin(a); 42 | 43 | this->toCart(x2, y2); 44 | 45 | return sqrtf((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2)); 46 | } 47 | 48 | inline float distance(PolarPose p) 49 | { 50 | float x2, y2; 51 | float x1 = p.range * cos(p.angle); 52 | float y1 = p.range * sin(p.angle); 53 | 54 | this->toCart(x2, y2); 55 | 56 | return sqrtf((x1 - x2) * (x1 - x2) + (y1 - y2) * (y1 - y2)); 57 | } 58 | 59 | inline void setZeroVar() 60 | { 61 | this->var_angle = 1e-6; 62 | this->var_range = 1e-6; 63 | } 64 | }; 65 | 66 | 67 | #endif 68 | 69 | -------------------------------------------------------------------------------- /likelihood_grid/launch/demo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /likelihood_grid/launch/likelihood.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | leg_weight: 2 126 | sound_weight: 4 127 | torso_weight: 3 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | -------------------------------------------------------------------------------- /likelihood_grid/launch/lms111-horizontal.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /likelihood_grid/launch/openni.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 6 | 7 | 8 | 9 | 10 | 11 | 17 | 18 | 19 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 112 | 113 | 114 | 115 | 116 | 117 | -------------------------------------------------------------------------------- /likelihood_grid/launch/pc-demo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /likelihood_grid/launch/play_bag.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 11 | -------------------------------------------------------------------------------- /likelihood_grid/launch/record_bag.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 20 | 21 | 22 | 23 | 26 | 27 | -------------------------------------------------------------------------------- /likelihood_grid/launch/robot_demo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | -------------------------------------------------------------------------------- /likelihood_grid/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | likelihood_grid 4 | 0.0.0 5 | The likelihood_grid package 6 | Shokoofeh Pourmehr 7 | BSD 8 | Shokoofeh Pourmehr 9 | 10 | catkin 11 | cv_bridge 12 | dynamic_reconfigure 13 | geometry_msgs 14 | sensor_msgs 15 | tf 16 | hark_msgs 17 | autonomy_human 18 | dynamic_reconfigure 19 | geometry_msgs 20 | sensor_msgs 21 | tf 22 | hark_msgs 23 | cv_bridge 24 | autonomy_human 25 | 26 | -------------------------------------------------------------------------------- /likelihood_grid/src/chumangrid.h: -------------------------------------------------------------------------------- 1 | #ifndef CHUMANGRID_H 2 | #define CHUMANGRID_H 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include"grid.h" 10 | 11 | class CHumanGrid 12 | { 13 | private: 14 | ros::NodeHandle n_; 15 | ros::Publisher human_grid_pub_; 16 | ros::Publisher highest_point_pub_; 17 | ros::Publisher local_maxima_pub_; 18 | ros::Publisher proj_pub_; 19 | 20 | geometry_msgs::PoseArray leg_prob_; 21 | geometry_msgs::PoseArray sound_prob_; 22 | geometry_msgs::PoseArray torso_prob_; 23 | geometry_msgs::PoseArray prob_; 24 | 25 | float lw_; 26 | float sw_; 27 | float tw_; 28 | 29 | float leg_max_; 30 | float sound_max_; 31 | float torso_max_; 32 | 33 | float leg_weight_; 34 | float sound_weight_; 35 | float torso_weight_; 36 | 37 | float state_time_threshold_; 38 | float probability_threshold_; 39 | 40 | ros::Time last_time_; 41 | ros::Time state_time_; 42 | 43 | bool initialized_; 44 | 45 | Velocity_t velocity_; 46 | 47 | nav_msgs::OccupancyGrid occupancy_grid_; 48 | geometry_msgs::PointStamped hp_; 49 | geometry_msgs::PointStamped tracked_hp_; 50 | int probability_projection_step; 51 | 52 | CGrid* grid_; 53 | 54 | void init(); 55 | void initGrid(); 56 | void transitState(); 57 | void printFusedFeatures(); 58 | void predictLastHighestPoint(); 59 | 60 | void publishLocalMaxima(); 61 | void newState(); 62 | void resetState(); 63 | void calculateProbabilityThreshold(); 64 | void publishProjection(); 65 | 66 | public: 67 | 68 | CHumanGrid(); 69 | CHumanGrid(ros::NodeHandle n, int probability_projection_step); 70 | CHumanGrid(ros::NodeHandle n, float lw, float sw, float tw, int probability_projection_step); 71 | void integrateProbabilities(); 72 | 73 | void legCallBack(const geometry_msgs::PoseArrayConstPtr& msg); 74 | void soundCallBack(const geometry_msgs::PoseArrayConstPtr &msg); 75 | void torsoCallBack(const geometry_msgs::PoseArrayConstPtr& msg); 76 | void weightsCallBack(const std_msgs::Float32MultiArrayConstPtr& msg); 77 | void encoderCallBack(const nav_msgs::OdometryConstPtr& msg); 78 | 79 | ~CHumanGrid(); 80 | }; 81 | 82 | #endif // CHUMANGRID_H 83 | -------------------------------------------------------------------------------- /likelihood_grid/src/cleggrid.h: -------------------------------------------------------------------------------- 1 | #ifndef LEG_GRID_H 2 | #define LEG_GRID_H 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include "grid.h" 8 | #include "opencv2/highgui/highgui.hpp" 9 | #include "opencv2/video/tracking.hpp" 10 | #include 11 | 12 | class CLegGrid 13 | { 14 | 15 | private: 16 | 17 | ros::NodeHandle n_; 18 | tf::TransformListener* tf_listener_; 19 | ros::Publisher grid_pub_; 20 | ros::Publisher predicted_leg_pub_; 21 | ros::Publisher prob_pub_; 22 | ros::Publisher proj_pub_; 23 | Velocity_t velocity_; 24 | ros::Duration diff_time_; 25 | ros::Time last_time_; 26 | ros::Time last_seen_leg_; 27 | CGrid* grid_; 28 | cv::KalmanFilter KFTracker_; 29 | cv::Mat KFmeasurement_; 30 | std::vector cstate_; 31 | std::vector cmeas_; 32 | std::vector meas_; 33 | std::vector match_meas_; 34 | nav_msgs::Odometry encoder_reading_; 35 | geometry_msgs::PoseArray prob_; 36 | // geometry_msgs::PoseArray legs_reading_; 37 | geometry_msgs::PoseArray filtered_legs_; 38 | geometry_msgs::PoseArray base_footprint_legs_; 39 | int probability_projection_step; 40 | 41 | void init(); 42 | void initKF(); 43 | void initTfListener(); 44 | void initGrid(); 45 | void callbackClear(); 46 | void computeObjectVelocity(); 47 | void makeStates(); 48 | void clearStates(); 49 | void addLastStates(); 50 | void addMeasurements(); 51 | void filterStates(); 52 | void updateKF(); 53 | void publishPredictedLegs(); 54 | void publishProbability(); 55 | void publishOccupancyGrid(); 56 | void filterLegs(); 57 | void keepLastLegs(); 58 | void publishProjection(); 59 | 60 | bool transformToBase(const geometry_msgs::PoseArrayConstPtr& source, 61 | geometry_msgs::PoseArray& target, 62 | bool debug = false); 63 | 64 | public: 65 | 66 | CLegGrid(ros::NodeHandle _n, tf::TransformListener* _tf_listener, int _probability_projection_step); 67 | ~CLegGrid(); 68 | 69 | /* TODO: use async callback */ 70 | 71 | // void syncCallBack(const geometry_msgs::PoseArrayConstPtr& leg_msg, 72 | // const nav_msgs::OdometryConstPtr& encoder_msg); 73 | 74 | void legsCallBack(const geometry_msgs::PoseArrayConstPtr& leg_msg); 75 | 76 | void encoderCallBack(const nav_msgs::OdometryConstPtr& encoder_msg); 77 | 78 | void spin(); 79 | 80 | 81 | }; 82 | 83 | #endif // LEG_GRID_H 84 | -------------------------------------------------------------------------------- /likelihood_grid/src/csoundgrid.h: -------------------------------------------------------------------------------- 1 | #ifndef CSOUNDGRID_H 2 | #define CSOUNDGRID_H 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include "grid.h" 9 | #include 10 | #include 11 | #include 12 | #include 13 | 14 | class CSoundGrid 15 | { 16 | private: 17 | 18 | ros::NodeHandle n_; 19 | tf::TransformListener* tf_listener_; 20 | ros::Publisher grid_pub_; 21 | ros::Publisher prob_pub_; 22 | ros::Publisher proj_pub_; 23 | ros::Publisher marker_pub_; 24 | Velocity_t velocity_; 25 | ros::Duration diff_time_; 26 | ros::Time last_time_; 27 | ros::Time last_heard_sound_; 28 | CGrid* grid_; 29 | cv::KalmanFilter KFTracker_; 30 | cv::Mat KFmeasurement_; 31 | std::vector cstate_; 32 | std::vector cmeas_; 33 | nav_msgs::Odometry encoder_reading_; 34 | std::vector ss_reading_; 35 | PolarPose polar_ss_; 36 | std::vector meas_; 37 | std::vector match_meas_; 38 | geometry_msgs::PoseArray prob_; 39 | int probability_projection_step; 40 | visualization_msgs::MarkerArray marker_array; 41 | double power_threshold; 42 | 43 | void init(); 44 | void initKF(); 45 | void initGrid(); 46 | void initTfListener(); 47 | 48 | void callbackClear(); 49 | void computeObjectVelocity(); 50 | void rejectNotValidSoundSources(float p); 51 | void addMirrorSoundSource(); 52 | void addSoundSource(); 53 | void keepLastSound(); 54 | 55 | void makeStates(); 56 | void addLastStates(); 57 | void clearStates(); 58 | void addMeasurements(); 59 | void filterStates(); 60 | 61 | void updateKF(); 62 | void publishProbability(); 63 | void publishOccupancyGrid(); 64 | void passStates(); 65 | 66 | void publishProjection(); 67 | void publishMarkers(); 68 | 69 | 70 | public: 71 | 72 | CSoundGrid(); 73 | CSoundGrid(ros::NodeHandle _n, tf::TransformListener* _tf_listener, int _probability_projection_step, float _power_threshold); 74 | ~CSoundGrid(); 75 | 76 | void syncCallBack(const hark_msgs::HarkSourceConstPtr& sound_msg, 77 | const nav_msgs::OdometryConstPtr& encoder_msg); 78 | 79 | void spin(); 80 | 81 | }; 82 | 83 | #endif // CSOUNDGRID_H 84 | -------------------------------------------------------------------------------- /likelihood_grid/src/cvisiongrid.h: -------------------------------------------------------------------------------- 1 | #ifndef CVISIONGRID_H 2 | #define CVISIONGRID_H 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include "grid.h" 9 | #include 10 | #include 11 | #include 12 | 13 | class CVisionGrid 14 | { 15 | ros::NodeHandle n_; 16 | tf::TransformListener* tf_listener_; 17 | ros::Publisher grid_pub_; 18 | ros::Publisher prob_pub_; 19 | ros::Publisher proj_pub_; 20 | ros::Publisher marker_pub_; 21 | Velocity_t velocity_; 22 | ros::Duration diff_time_; 23 | ros::Time last_time_; 24 | CGrid* grid_; 25 | cv::KalmanFilter KFTracker_; 26 | cv::Mat KFmeasurement_; 27 | std::vector cstate_; 28 | std::vector cmeas_; 29 | nav_msgs::Odometry encoder_reading_; 30 | std::vector meas_; 31 | autonomy_human::raw_detections torso_reading_; 32 | std::vector match_meas_; 33 | geometry_msgs::PoseArray prob_; 34 | ros::Time last_seen_torso_; 35 | int probability_projection_step; 36 | visualization_msgs::MarkerArray marker_array; 37 | 38 | void init(); 39 | void initKF(); 40 | void initTfListener(); 41 | void initGrid(); 42 | void makeStates(); 43 | void clearStates(); 44 | void addLastStates(); 45 | void addMeasurements(); 46 | void filterStates(); 47 | void updateKF(); 48 | void callbackClear(); 49 | void computeObjectVelocity(); 50 | void publishProbability(); 51 | void publishOccupancyGrid(); 52 | void passStates(); 53 | void KeepLastTorso(); 54 | void publishProjection(); 55 | void publishMarkers(); 56 | 57 | public: 58 | 59 | CVisionGrid(); 60 | CVisionGrid(ros::NodeHandle _n, tf::TransformListener* _tf_listener, int _probability_projection_step); 61 | ~CVisionGrid(); 62 | 63 | void syncCallBack(const autonomy_human::raw_detectionsConstPtr& torso_msg, 64 | const nav_msgs::OdometryConstPtr& encoder_msg); 65 | 66 | void spin(); 67 | 68 | }; 69 | 70 | #endif // CVISIONGRID_H 71 | -------------------------------------------------------------------------------- /likelihood_grid/src/grid.h: -------------------------------------------------------------------------------- 1 | #ifndef GRID_H 2 | #define GRID_H 3 | 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | #include 10 | #include 11 | #include 12 | #include 13 | #include 14 | #include 15 | #include 16 | #include 17 | #include 18 | #include 19 | #include 20 | #include 21 | #include "polarcord.h" 22 | #include 23 | #include 24 | 25 | float normalize(const float val, const float x_min, const float x_max, const float range_min, const float range_max); 26 | 27 | float pointDistance(geometry_msgs::Point a, geometry_msgs::Point b); 28 | 29 | struct FOV_t 30 | { 31 | float min; 32 | float max; 33 | }; 34 | 35 | struct SensorFOV_t 36 | { 37 | FOV_t range; 38 | FOV_t angle; 39 | }; 40 | 41 | struct CellProbability_t 42 | { 43 | float free; 44 | float unknown; 45 | float human; 46 | }; 47 | 48 | struct LocalMaxima_t 49 | { 50 | size_t index; 51 | bool tracking; 52 | int8_t counter; 53 | float probability; 54 | bool operator < (const LocalMaxima_t& lm) const 55 | { 56 | return (probability < lm.probability); 57 | } 58 | 59 | void reset() 60 | { 61 | tracking = false; 62 | counter = 1; 63 | } 64 | }; 65 | 66 | struct Cell_t 67 | { 68 | geometry_msgs::Point cartesian; 69 | PolarPose polar; 70 | }; 71 | 72 | struct Velocity_t 73 | { 74 | geometry_msgs::Point lin; 75 | float linear; 76 | float angular; 77 | }; 78 | 79 | struct MapMetaData_t 80 | { 81 | float resolution; // The map resolution [m/cell] 82 | uint32_t width; //Map width [cells] 83 | uint32_t height; // Map height [cells] 84 | geometry_msgs::Pose origin; // The origin of the map [m, m, rad]. This is the real-world pose of the cell (0,0) in the map. 85 | std::vector cell; // robot-centric position of the cell (r,c) in the map 86 | std::vector cell_inFOV; // is cell(r,c) in sensor fov? 87 | }; 88 | 89 | template 90 | struct Cycle_t 91 | { 92 | T current; 93 | T past; 94 | T predicted; 95 | }; 96 | 97 | 98 | class CGrid 99 | { 100 | private: 101 | FOV_t x_; 102 | FOV_t y_; 103 | 104 | ros::Time lk_; 105 | int angle_bins; 106 | 107 | float cellsDistance(size_t c1, size_t c2); 108 | std::vector old_lms_; 109 | std::vector new_lms_; 110 | std::vector matched_lms_; 111 | std::vector main_lms_; 112 | 113 | std::vector true_likelihood_; 114 | std::vector false_likelihood_; 115 | std::vector predicted_posterior_; 116 | std::vector predicted_true_likelihood_; 117 | std::vector predicted_false_likelihood_; 118 | 119 | LocalMaxima_t last_gm_; 120 | Velocity_t velocity_; 121 | Velocity_t last_velocity_; 122 | 123 | float TARGET_DETECTION_PROBABILITY_; 124 | float FALSE_DETECTION_PROBABILITY_; 125 | 126 | void computeLikelihood(const std::vector& pose, 127 | std::vector &_true_likelihood, 128 | std::vector &_false_likelihood); 129 | void updateGridProbability(std::vector &_prior, 130 | const std::vector &_true_likelihood, 131 | const std::vector &_false_likelihood, 132 | std::vector &_posterior); 133 | void setOutFOVProbability(std::vector& data, const float val); 134 | void setInFOVProbability(std::vector& data, const float val); 135 | void getLocalMaximas(); 136 | void trackLocalMaximas(); 137 | bool sortByProbability(LocalMaxima_t &i, LocalMaxima_t &j); 138 | float pmfr(float u, float s, float x, float d); 139 | float pmfa(float u, float s, float x, float d); 140 | 141 | 142 | public: 143 | MapMetaData_t map; 144 | uint32_t grid_size; 145 | PolarPose stdev; 146 | CellProbability_t cell_probability; 147 | SensorFOV_t sensor_fov; 148 | nav_msgs::OccupancyGrid occupancy_grid; 149 | float max_probability_; 150 | geometry_msgs::PoseArray grid_projection; 151 | int projection_angle_step; 152 | 153 | std::vector posterior; 154 | std::vector prior; 155 | 156 | ros::Time last_time; 157 | ros::Duration diff_time; 158 | 159 | Cycle_t crtsn_array; 160 | Cycle_t > polar_array; 161 | Cycle_t > cov_array; 162 | 163 | geometry_msgs::PoseArray local_maxima_poses; 164 | geometry_msgs::PointStamped highest_prob_point; 165 | 166 | CGrid(uint32_t map_size, 167 | SensorFOV_t _sensor_fov, 168 | float_t map_resolution, 169 | CellProbability_t _cell_probability, 170 | float _target_detection_probability, 171 | float _false_positive_probability, 172 | int _projection_angle_step); 173 | CGrid(); 174 | ~CGrid(); 175 | 176 | void fuse(const std::vector &data_1, const std::vector &data_2, 177 | const std::vector &data_3, bool multiply); 178 | void bayesOccupancyFilter(); 179 | void getPose(geometry_msgs::PoseArray &crtsn_array); 180 | void getPose(const autonomy_human::raw_detectionsConstPtr torso_img); 181 | void getPose(const hark_msgs::HarkSourceConstPtr& sound_src); 182 | void predict(const Velocity_t _robot_velocity); 183 | size_t predictObjectPosition(size_t index); 184 | void polar2Crtsn(std::vector &polar_array, 185 | geometry_msgs::PoseArray &crtsn_array); 186 | void updateLocalMaximas(); 187 | void trackMaxProbability(); 188 | void updateGrid(int score); 189 | size_t maxProbCellIndex(); 190 | void projectGrid(); 191 | 192 | 193 | }; 194 | 195 | #endif 196 | -------------------------------------------------------------------------------- /likelihood_grid/src/human_grid_node.cpp: -------------------------------------------------------------------------------- 1 | #include "grid.h" 2 | #include "chumangrid.h" 3 | #include 4 | 5 | 6 | int main(int argc, char** argv) 7 | { 8 | ros::init(argc, argv, "human_node_grid"); 9 | ros::NodeHandle n; 10 | int loop_rate; 11 | ros::param::param("~/loop_rate", loop_rate, 5); 12 | ros::Rate looprate(loop_rate); 13 | 14 | 15 | // bool get_leg_grid = true; 16 | // bool get_sound_grid = true; 17 | // bool get_torso_grid = true; 18 | 19 | double lw, sw, tw; 20 | 21 | // ros::param::param("/human_grid_node/leg_node", get_leg_grid, true); 22 | // ros::param::param("/human_grid_node/torso_node", get_torso_grid, true); 23 | // ros::param::param("/human_grid_node/sound_node", get_sound_grid, true); 24 | ros::param::param("/human_grid_node/sound_weight", sw, 4.0); 25 | ros::param::get("/human_grid_node/sound_weight", sw); 26 | 27 | ros::param::param("/human_grid_node/torso_weight", tw, 3.0); 28 | ros::param::get("/human_grid_node/torso_weight", tw); 29 | 30 | ros::param::param("/human_grid_node/leg_weight", lw, 2.0); 31 | ros::param::get("/human_grid_node/leg_weight", lw); 32 | int probability_projection_step; 33 | ros::param::param("~/human/probability_projection_step", probability_projection_step, 1); 34 | CHumanGrid human_grid(n, lw, sw, tw, probability_projection_step); 35 | 36 | 37 | ros::Subscriber leg_grid_sub = n.subscribe("leg/probability", 10, 38 | &CHumanGrid::legCallBack, 39 | &human_grid); 40 | 41 | ros::Subscriber sound_grid_sub = n.subscribe("sound/probability", 10, 42 | &CHumanGrid::soundCallBack, 43 | &human_grid); 44 | 45 | 46 | ros::Subscriber torso_grid_sub = n.subscribe("torso/probability", 10, 47 | &CHumanGrid::torsoCallBack, 48 | &human_grid); 49 | 50 | ros::Subscriber encoder_sub = n.subscribe("husky/odom", 10, 51 | &CHumanGrid::encoderCallBack, &human_grid); 52 | 53 | ros::Subscriber weights_sub = n.subscribe("/weights", 10, 54 | &CHumanGrid::weightsCallBack, &human_grid); 55 | 56 | while (ros::ok()) 57 | { 58 | human_grid.integrateProbabilities(); 59 | 60 | if (looprate.cycleTime() > looprate.expectedCycleTime()) 61 | ROS_ERROR("It is taking too long! %f", looprate.cycleTime().toSec()); 62 | if (!looprate.sleep()) 63 | ROS_ERROR("Not enough time left"); 64 | 65 | ros::spinOnce(); 66 | } 67 | 68 | return 0; 69 | } 70 | -------------------------------------------------------------------------------- /likelihood_grid/src/leg_grid_node.cpp: -------------------------------------------------------------------------------- 1 | 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include "cleggrid.h" 8 | #include 9 | 10 | #define _USE_MATH_DEFINES 11 | 12 | using namespace message_filters; 13 | 14 | int main(int argc, char** argv) 15 | { 16 | ros::init(argc, argv, "leg_grid_node"); 17 | ros::NodeHandle n; 18 | tf::TransformListener *tf_listener; 19 | int loop_rate; 20 | int probability_projection_step; 21 | ros::param::param("~/leg/probability_projection_step", probability_projection_step, 1); 22 | ros::param::param("~/loop_rate", loop_rate, 5); 23 | ros::Rate looprate(loop_rate); 24 | 25 | CLegGrid leg_grid(n, tf_listener, probability_projection_step); 26 | 27 | // message_filters::Subscriber legs_sub(n, "legs", 10); 28 | // message_filters::Subscriber encoder_sub(n, "encoder", 10); 29 | 30 | // typedef sync_policies::ApproximateTime MySyncPolicy; 32 | 33 | // Synchronizer sync(MySyncPolicy(10), legs_sub, encoder_sub); 34 | // sync.registerCallback(boost::bind(&CLegGrid::syncCallBack, 35 | // &leg_grid, _1, _2)); 36 | 37 | ros::Subscriber legs_sub = n.subscribe("legs", 10, 38 | &CLegGrid::legsCallBack, &leg_grid); 39 | ros::Subscriber encoder_sub = n.subscribe("husky/odom", 10, &CLegGrid::encoderCallBack, &leg_grid); 40 | 41 | while (ros::ok()) 42 | { 43 | leg_grid.spin(); 44 | 45 | if (looprate.cycleTime() > looprate.expectedCycleTime()) 46 | ROS_ERROR("It is taking too long! %f", looprate.cycleTime().toSec()); 47 | if (!looprate.sleep()) 48 | ROS_ERROR("Not enough time left"); 49 | 50 | ros::spinOnce(); 51 | } 52 | 53 | return 0; 54 | } 55 | -------------------------------------------------------------------------------- /likelihood_grid/src/likelihood_grid.h: -------------------------------------------------------------------------------- 1 | #ifndef LIKELIHOOD_GRID_H 2 | #define LIKELIHOOD_GRID_H 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | 9 | #include 10 | #include 11 | #include 12 | #include 13 | #include 14 | #include 15 | #include 16 | #include 17 | #include "grid.h" 18 | 19 | 20 | class CLikelihoodGrid 21 | { 22 | private: 23 | ros::NodeHandle n_; 24 | tf::TransformListener* tf_listener_; 25 | 26 | // Leg 27 | ros::Publisher predicted_leg_base_pub_; 28 | ros::Publisher last_leg_base_pub_; 29 | ros::Publisher current_leg_base_pub_; 30 | ros::Publisher legs_grid_pub_; 31 | CGrid* leg_grid_; 32 | ros::Time last_leg_time_; 33 | ros::Duration leg_diff_time_; 34 | bool LEG_DETECTION_ENABLE_; 35 | nav_msgs::OccupancyGrid leg_occupancy_grid_; 36 | std::vector current_leg_pose_array_base_polar_; 37 | std::vector last_leg_pose_array_base_polar_; 38 | std::vector predicted_leg_pose_array_base_polar_; 39 | 40 | 41 | // person 42 | ros::Publisher torso_grid_pub_; 43 | std::string torso_frame_id_; 44 | CGrid* torso_grid_; 45 | ros::Time last_torso_time_; 46 | ros::Duration torso_diff_time_; 47 | bool TORSO_DETECTION_ENABLE_; 48 | nav_msgs::OccupancyGrid torso_occupancy_grid_; 49 | 50 | // Sound 51 | ros::Publisher sound_grid_pub_; 52 | std::string sound_frame_id_; 53 | CGrid* sound_grid_; 54 | ros::Time last_sound_time_; 55 | ros::Duration sound_diff_time_; 56 | bool SOUND_DETECTION_ENABLE_; 57 | nav_msgs::OccupancyGrid sound_occupancy_grid_; 58 | 59 | 60 | // Periodic Gesture 61 | ros::Publisher periodic_grid_pub_; 62 | ros::Publisher max_periodic_prob_pub_; 63 | std::string periodic_frame_id_; 64 | CGrid* periodic_grid_; 65 | ros::Time last_periodic_time_; 66 | ros::Duration periodic_diff_time_; 67 | bool PERIODIC_GESTURE_DETECTION_ENABLE_; 68 | nav_msgs::OccupancyGrid periodic_occupancy_grid_; 69 | 70 | // Human 71 | ros::Publisher human_grid_pub_; 72 | ros::Publisher local_maxima_pub_; 73 | ros::Publisher max_prob_pub_; 74 | std::string human_frame_id_; 75 | CGrid* human_grid_; 76 | nav_msgs::OccupancyGrid human_occupancy_grid_; 77 | bool FUSE_MULTIPLY_; 78 | geometry_msgs::PoseArray local_maxima_; 79 | geometry_msgs::PointStamped maximum_probability_; 80 | geometry_msgs::PointStamped maximum_periodic_probability_; 81 | 82 | 83 | //encoder 84 | ros::Time encoder_last_time_; 85 | ros::Time last_time_; 86 | ros::Duration encoder_diff_time_; 87 | geometry_msgs::Pose diff_pose_crtsn_; 88 | PolarPose polar_diff_pose_; 89 | CellProbability_t CELL_PROBABILITY_; 90 | CellProbability_t LEG_CELL_PROBABILITY_; 91 | CellProbability_t TORSO_CELL_PROBABILITY_; 92 | CellProbability_t SOUND_CELL_PROBABILITY_; 93 | 94 | SensorFOV_t FOV_; 95 | Velocity_t robot_velocity_; 96 | bool MOTION_MODEL_ENABLE_; 97 | 98 | float prior_threshold_; 99 | float UPDATE_RATE_; 100 | float TARGET_DETETION_PROBABILITY_; 101 | float FALSE_POSITIVE_PROBABILITY_; 102 | // float robot_angular_velocity; 103 | // float robot_linear_velocity; 104 | float MAP_RESOLUTION_; 105 | 106 | int LOOP_RATE_; 107 | int number_of_sensors_; 108 | int SENSITIVITY_; 109 | int MAP_SIZE_; 110 | 111 | int PROJECTION_ANGLE_STEP; 112 | 113 | void init(); 114 | bool transformToBase(geometry_msgs::PointStamped& source_point, 115 | geometry_msgs::PointStamped& target_point, 116 | bool debug = false); 117 | bool transformToBase(const geometry_msgs::PoseArrayConstPtr& source, 118 | geometry_msgs::PoseArray& target, 119 | bool debug = false); 120 | bool transformToOdom(geometry_msgs::PointStamped& source_point, 121 | geometry_msgs::PointStamped target_point, 122 | bool debug = false); 123 | void occupancyGrid(CGrid* grid, 124 | nav_msgs::OccupancyGrid *occupancy_grid); 125 | 126 | void initLegGrid(SensorFOV_t _fov); //NEEDED FOR EVERY HUMAN FEATURE 127 | void initTorsoGrid(SensorFOV_t _fov); 128 | void initSoundGrid(SensorFOV_t _fov); 129 | void initPeriodicGrid(SensorFOV_t _fov); 130 | void initHumanGrid(SensorFOV_t _fov); 131 | 132 | public: 133 | ros::Time lk; 134 | CLikelihoodGrid(); 135 | CLikelihoodGrid(ros::NodeHandle _n, tf::TransformListener* _tf_listener); 136 | 137 | void syncCallBack(const geometry_msgs::PoseArrayConstPtr& leg_msg, 138 | const nav_msgs::OdometryConstPtr& encoder_msg); 139 | void soundCallBack(const hark_msgs::HarkSourceConstPtr &sound_msg); 140 | void torsoCallBack(const autonomy_human::raw_detectionsConstPtr &torso_msg); 141 | void periodicCallBack(const autonomy_human::raw_detectionsConstPtr &periodic_msg); 142 | 143 | void spin(); 144 | ~CLikelihoodGrid(); // TO BE MODIFIED FOR EVERY HUMAN FEATURE 145 | }; 146 | 147 | 148 | #endif 149 | -------------------------------------------------------------------------------- /likelihood_grid/src/likelihood_grid_node.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include "likelihood_grid.h" 7 | #include 8 | 9 | #define _USE_MATH_DEFINES 10 | 11 | using namespace message_filters; 12 | 13 | int main(int argc, char** argv) 14 | { 15 | ros::init(argc, argv, "likelihood_grid_node"); 16 | ros::NodeHandle n; 17 | tf::TransformListener *tf_listener; 18 | int loop_rate; 19 | ros::param::param("~/loop_rate", loop_rate, 20); 20 | ros::Rate looprate(loop_rate); 21 | 22 | CLikelihoodGrid likelihood_grid(n, tf_listener); 23 | 24 | message_filters::Subscriber legs_sub(n, "legs", 10); 25 | message_filters::Subscriber encoder_sub(n, "husky/odom", 10); 26 | 27 | typedef sync_policies::ApproximateTime MySyncPolicy; 29 | 30 | Synchronizer sync(MySyncPolicy(10), legs_sub, encoder_sub); 31 | sync.registerCallback(boost::bind(&CLikelihoodGrid::syncCallBack, 32 | &likelihood_grid, _1, _2)); 33 | 34 | ros::Subscriber sound_sub = n.subscribe("sound", 10, 35 | &CLikelihoodGrid::soundCallBack, 36 | &likelihood_grid); 37 | 38 | ros::Subscriber torso_sub = n.subscribe("torso", 10, 39 | &CLikelihoodGrid::torsoCallBack, 40 | &likelihood_grid); 41 | 42 | ros::Subscriber periodic_sub = n.subscribe("gesture", 10, 43 | &CLikelihoodGrid::periodicCallBack, 44 | &likelihood_grid); 45 | 46 | while (ros::ok()) 47 | { 48 | likelihood_grid.spin(); 49 | 50 | if (looprate.cycleTime() > looprate.expectedCycleTime()) 51 | ROS_ERROR("It is taking too long! %f", looprate.cycleTime().toSec()); 52 | if (!looprate.sleep()) 53 | ROS_ERROR("Not enough time left"); 54 | 55 | ros::spinOnce(); 56 | 57 | } 58 | return 0; 59 | } 60 | -------------------------------------------------------------------------------- /likelihood_grid/src/sound_grid_node.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include "csoundgrid.h" 7 | #include 8 | 9 | #define _USE_MATH_DEFINES 10 | 11 | using namespace message_filters; 12 | 13 | int main(int argc, char** argv) 14 | { 15 | ros::init(argc, argv, "sound_grid_node"); 16 | ros::NodeHandle n; 17 | tf::TransformListener *tf_listener; 18 | int loop_rate; 19 | int probability_projection_step; 20 | double power_threshold; 21 | ros::param::param("~/loop_rate", loop_rate, 5); 22 | ros::param::param("~/sound/probability_projection_step", probability_projection_step, 1); 23 | ros::param::param("~/sound/power_threshold", power_threshold, 25.0); 24 | ros::Rate looprate(loop_rate); 25 | 26 | CSoundGrid sound_grid(n, tf_listener, probability_projection_step, power_threshold); 27 | 28 | message_filters::Subscriber sound_sub(n, "sound", 10); 29 | message_filters::Subscriber encoder_sub(n, "husky/odom", 10); 30 | 31 | typedef sync_policies::ApproximateTime MySyncPolicy; 33 | 34 | Synchronizer sync(MySyncPolicy(10), sound_sub, encoder_sub); 35 | sync.registerCallback(boost::bind(&CSoundGrid::syncCallBack, 36 | &sound_grid, _1, _2)); 37 | 38 | 39 | while (ros::ok()) 40 | { 41 | sound_grid.spin(); 42 | 43 | if (looprate.cycleTime() > looprate.expectedCycleTime()) 44 | ROS_ERROR("Sound Grid: It is taking too long! %f", looprate.cycleTime().toSec()); 45 | if (!looprate.sleep()) 46 | ROS_ERROR("Not enough time left"); 47 | 48 | ros::spinOnce(); 49 | } 50 | 51 | return 0; 52 | } 53 | -------------------------------------------------------------------------------- /likelihood_grid/src/test.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | geometry_msgs::PoseArray legs; 11 | nav_msgs::Odometry encoder; 12 | autonomy_human::raw_detections torso; 13 | hark_msgs::HarkSource sound; 14 | std_msgs::Float32MultiArray weights; 15 | 16 | 17 | bool show_sound; 18 | 19 | void callback(likelihood_grid::TestConfig &config, uint32_t level) 20 | { 21 | 22 | if (!legs.poses.empty()) legs.poses.clear(); 23 | if (!torso.detections.empty()) torso.detections.clear(); 24 | if (!sound.src.empty()) sound.src.clear(); 25 | if (!weights.data.empty()) weights.data.clear(); 26 | 27 | geometry_msgs::Pose l; 28 | sensor_msgs::RegionOfInterest d; 29 | hark_msgs::HarkSourceVal s; 30 | 31 | if (config.show_leg1) 32 | { 33 | l.position.x = config.leg1_x; 34 | l.position.y = config.leg1_y; 35 | legs.poses.push_back(l); 36 | } 37 | 38 | if (config.show_leg2) 39 | { 40 | l.position.x = config.leg2_x; 41 | l.position.y = config.leg2_y; 42 | legs.poses.push_back(l); 43 | } 44 | 45 | if (config.show_leg3) 46 | { 47 | l.position.x = config.leg3_x; 48 | l.position.y = config.leg3_y; 49 | legs.poses.push_back(l); 50 | } 51 | 52 | if (config.show_torso) 53 | { 54 | d.height = config.torso_height; 55 | d.width = config.torso_width; 56 | d.x_offset = config.torso_x; 57 | d.y_offset = config.torso_y; 58 | torso.detections.push_back(d); 59 | } 60 | 61 | if (config.show_sound) 62 | { 63 | s.azimuth = config.sound_dir; 64 | s.power = config.sound_pwr; 65 | s.y = config.sound_y; 66 | sound.src.push_back(s); 67 | } 68 | 69 | weights.data.push_back(config.leg_weight); 70 | weights.data.push_back(config.sound_weight); 71 | weights.data.push_back(config.torso_weight); 72 | 73 | } 74 | 75 | int main(int argc, char** argv) 76 | { 77 | ros::init(argc, argv, "test"); 78 | ros::NodeHandle n; 79 | 80 | dynamic_reconfigure::Server server; 81 | dynamic_reconfigure::Server::CallbackType f; 82 | 83 | std::string frame_id = "base_footprint"; 84 | f = boost::bind(&callback, _1, _2); 85 | server.setCallback(f); 86 | ros::Rate loop_rate(10); 87 | 88 | ros::Publisher leg_pub = n.advertise("legs", 10); 89 | ros::Publisher sound_pub = n.advertise("/HarkSource", 10); 90 | ros::Publisher torso_pub = n.advertise("/person_detection/people", 10); 91 | ros::Publisher encoder_pub = n.advertise("/encoder", 10); 92 | ros::Publisher weights_pub = n.advertise("/weights", 10); 93 | 94 | legs.header.frame_id = frame_id; 95 | encoder.header.frame_id = frame_id; 96 | torso.header.frame_id = frame_id; 97 | sound.header.frame_id = frame_id; 98 | 99 | encoder.twist.twist.linear.x = 0.0; 100 | encoder.twist.twist.angular.z = 0.0; 101 | 102 | while (ros::ok()) 103 | { 104 | ros::Time now = ros::Time::now(); 105 | legs.header.stamp = now; 106 | encoder.header.stamp = now; 107 | torso.header.stamp = now; 108 | sound.header.stamp = now; 109 | 110 | leg_pub.publish(legs); 111 | encoder_pub.publish(encoder); 112 | torso_pub.publish(torso); 113 | sound_pub.publish(sound); 114 | weights_pub.publish(weights); 115 | 116 | ros::spinOnce(); 117 | loop_rate.sleep(); 118 | 119 | } 120 | return 0; 121 | } 122 | -------------------------------------------------------------------------------- /likelihood_grid/src/vision_grid_node.cpp: -------------------------------------------------------------------------------- 1 | 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include "cvisiongrid.h" 8 | #include 9 | 10 | #define _USE_MATH_DEFINES 11 | 12 | using namespace message_filters; 13 | 14 | int main(int argc, char** argv) 15 | { 16 | ros::init(argc, argv, "vision_grid_node"); 17 | ros::NodeHandle n; 18 | tf::TransformListener *tf_listener; 19 | int loop_rate; 20 | int probability_projection_step; 21 | ros::param::param("~/vision/probability_projection_step", probability_projection_step, 1); 22 | ros::param::param("~/loop_rate", loop_rate, 5); 23 | ros::Rate looprate(loop_rate); 24 | 25 | CVisionGrid vision_grid(n, tf_listener, probability_projection_step); 26 | 27 | message_filters::Subscriber vision_sub(n, "torso", 10); 28 | message_filters::Subscriber encoder_sub(n, "husky/odom", 10); 29 | 30 | typedef sync_policies::ApproximateTime MySyncPolicy; 32 | 33 | Synchronizer sync(MySyncPolicy(10), vision_sub, encoder_sub); 34 | sync.registerCallback(boost::bind(&CVisionGrid::syncCallBack, 35 | &vision_grid, _1, _2)); 36 | 37 | 38 | while (ros::ok()) 39 | { 40 | vision_grid.spin(); 41 | 42 | if (looprate.cycleTime() > looprate.expectedCycleTime()) 43 | ROS_ERROR("Sound Grid: It is taking too long! %f", looprate.cycleTime().toSec()); 44 | if (!looprate.sleep()) 45 | ROS_ERROR("Not enough time left"); 46 | 47 | ros::spinOnce(); 48 | } 49 | 50 | return 0; 51 | } 52 | --------------------------------------------------------------------------------