├── LICENSE ├── README.md ├── bayes ├── CMakeLists.txt ├── include │ └── open_ptrack │ │ └── bayes │ │ ├── CIFlt.hpp │ │ ├── SIRFlt.hpp │ │ ├── UDFlt.hpp │ │ ├── allFilters.hpp │ │ ├── bayesException.hpp │ │ ├── bayesFlt.hpp │ │ ├── covFlt.hpp │ │ ├── filters │ │ ├── average1.hpp │ │ └── indirect.hpp │ │ ├── infFlt.hpp │ │ ├── infRtFlt.hpp │ │ ├── itrFlt.hpp │ │ ├── matSup.hpp │ │ ├── matSupSub.hpp │ │ ├── models.hpp │ │ ├── random.hpp │ │ ├── schemeFlt.hpp │ │ ├── uBLASmatrix.hpp │ │ ├── uLAPACK.hpp │ │ └── unsFlt.hpp ├── license.txt ├── package.xml └── src │ ├── CIFlt.cpp │ ├── SIRFlt.cpp │ ├── UDFlt.cpp │ ├── UdU.cpp │ ├── bayesFlt.cpp │ ├── bayesFltAlg.cpp │ ├── covFlt.cpp │ ├── infFlt.cpp │ ├── infRtFlt.cpp │ ├── itrFlt.cpp │ ├── matSup.cpp │ └── unsFlt.cpp ├── detection ├── CMakeLists.txt ├── apps │ ├── ground_based_people_detector_node.cpp │ ├── ground_based_people_detector_node_sr.cpp │ ├── haardispada_node.cpp │ ├── haardispada_node_sr.cpp │ └── haardispada_nodelet.cpp ├── cfg │ ├── GroundBasedPeopleDetector.cfg │ └── HaarDispAdaDetector.cfg ├── conf │ ├── ground_based_people_detector_kinect1.yaml │ ├── ground_based_people_detector_kinect2.yaml │ ├── ground_based_people_detector_sr.yaml │ ├── ground_based_people_detector_sr_multicamera.yaml │ ├── ground_based_people_detector_stereo_pg.yaml │ ├── haar_disp_ada_detector.yaml │ └── haar_disp_ada_detector_stereo_pg.yaml ├── data │ ├── HaarDispAda.xml │ ├── HogSvmPCL.yaml │ └── HogSvmPCL_half.yaml ├── include │ └── open_ptrack │ │ └── detection │ │ ├── detection.h │ │ ├── detection_source.h │ │ ├── ground_based_people_detection_app.h │ │ ├── ground_segmentation.h │ │ ├── haardispada.h │ │ ├── impl │ │ ├── ground_based_people_detection_app.hpp │ │ ├── ground_segmentation.hpp │ │ └── person_classifier.hpp │ │ └── person_classifier.h ├── launch │ ├── detector_depth.launch │ ├── detector_depth_kinect2.launch │ ├── detector_depth_sr.launch │ ├── detector_kinect1.launch │ ├── detector_kinect2.launch │ ├── detector_sr4500.launch │ ├── detector_stereo.launch │ ├── detector_stereo_pg.launch │ ├── freenect.launch │ └── openni.launch ├── nodelet_plugins.xml ├── package.xml └── src │ ├── detection.cpp │ ├── detection_source.cpp │ └── haardispada.cpp ├── docs ├── Kinect2_installation_guide.txt ├── Kinect_v2_calibration_guide.pdf ├── Readme.md ├── assets │ ├── max │ │ ├── OpenPTrackExample.maxpat │ │ ├── README.md │ │ ├── parseOPT.js │ │ └── recvzeropad.java │ ├── node-ptrack.js │ ├── openPTrack.tox │ ├── optreceiver.py │ ├── optsimulate.py │ ├── p5_opt_udp.pde │ └── udp_example.py ├── checkerboard_5x6.pdf ├── images │ ├── 6. 20150430_Calibration_Refinement.png │ ├── Calibartion_Rviz.png │ ├── Calibartion_floor.jpg │ ├── Calibartion_one.jpg │ ├── Calibartion_two.jpg │ ├── Calibration_Terminal.jpg │ ├── CheckerBoard_Origion.JPG │ ├── Detection_debug.png │ ├── Kinect_ceiling_mount.jpg │ ├── Kinect_wall_mount.jpg │ ├── OPT_Imager_Layout.png │ ├── OPT_Network_Example.pdf │ ├── OPT_Networking_Example.jpg │ ├── manual_ground_plane_3_points.jpg │ ├── manual_ground_plane_3_points_2.jpg │ ├── manual_ground_plane_initital.jpg │ ├── manual_ground_plane_start.jpg │ ├── manual_ground_plane_start_2.jpg │ └── tx1_jetpack_install.jpg ├── stereo_pipeline.doc └── user_guide.txt ├── open_ptrack ├── CMakeLists.txt └── package.xml ├── opt_calibration ├── CMakeLists.txt ├── README.md ├── apps │ ├── calibration_initializer.py │ ├── detection_initializer.py │ ├── listener.py │ ├── opt_calibration_refinement.cpp │ ├── status_plot.py │ └── stereo_publisher.cpp ├── conf │ ├── calibration_refinement.rviz │ ├── calibration_refinement.yaml │ ├── calibration_results.rviz │ ├── camera_network.yaml.example │ ├── opt_calibration.rviz │ ├── pg_default.yaml │ └── stereo_proc.yaml ├── include │ └── open_ptrack │ │ └── opt_calibration │ │ ├── opt_calibration.h │ │ ├── opt_calibration_node.h │ │ ├── opt_checkerboard_extraction.h │ │ ├── opt_define_reference_frame.h │ │ ├── ros_device.h │ │ └── trajectory_registration.h ├── launch │ ├── calibration_initializer.launch │ ├── detection_initializer.launch │ ├── listener.launch │ ├── opt_calibration_refinement.launch │ ├── save_camera_info.launch │ ├── save_camera_info_sr.launch │ ├── sensor_stereo_demo.launch │ ├── sr4500_calibration.launch │ ├── stereo_pg.launch │ ├── stereo_processing.launch │ └── stereo_processing_blackfly_stereo.launch ├── package.xml ├── scripts │ ├── move_camera_info.sh │ ├── save_camera_info_no_serial.sh │ └── save_camera_info_sr.sh └── src │ ├── opt_calibration.cpp │ ├── opt_calibration_node.cpp │ ├── opt_checkerboard_extraction.cpp │ ├── opt_define_reference_frame.cpp │ ├── ros_device.cpp │ └── trajectory_registration.cpp ├── opt_msgs ├── CMakeLists.txt ├── include │ └── open_ptrack │ │ └── opt_msgs │ │ └── overlap.h ├── mainpage.dox ├── msg │ ├── BoundingBox2D.msg │ ├── BoundingBox3D.msg │ ├── CalibrationStatus.msg │ ├── Detection.msg │ ├── DetectionArray.msg │ ├── HumanEntries.msg │ ├── HumanEntry.msg │ ├── IDArray.msg │ ├── RoiRect.msg │ ├── Rois.msg │ ├── Track.msg │ └── TrackArray.msg ├── package.xml ├── src │ └── overlap.cpp └── srv │ ├── OPTSensor.srv │ └── OPTTransform.srv ├── opt_utils ├── CMakeLists.txt ├── apps │ ├── roi_viewer.cpp │ ├── ros2udp_converter.cpp │ └── udp_listener.cpp ├── conf │ └── json_udp.yaml ├── include │ └── open_ptrack │ │ └── opt_utils │ │ ├── conversions.h │ │ ├── json.h │ │ └── udp_messaging.h ├── launch │ ├── multicamera_visualization.launch │ ├── roi_viewer.launch │ ├── ros2udp_converter.launch │ ├── udp_listener.launch │ ├── visualization.launch │ ├── visualization_kinect2.launch │ └── visualization_sr.launch ├── mainpage.dox ├── package.xml └── src │ ├── conversions.cpp │ ├── json.cpp │ └── udp_messaging.cpp ├── scripts ├── calibration_toolkit_install.sh ├── ceres.patch ├── ceres_install.sh ├── ceres_install_raring.sh ├── ceres_install_trusty.sh ├── kinect2_install.sh ├── libfreenect_update.sh ├── mesa_install.sh ├── openptrack_install.sh ├── ros_configure.sh ├── ros_install.sh └── stereo_calibration_parser.sh ├── swissranger_camera ├── CMakeLists.txt ├── apps │ ├── main_image_publisher_sr.cpp │ └── set_camera_info.py ├── cfg │ ├── SR4500_calib.yaml │ ├── SwissRanger.cfg │ ├── SwissRanger.cfgc │ └── swissranger.rviz ├── docs │ ├── SwissRangerConfig-usage.dox │ ├── SwissRangerConfig.dox │ └── SwissRangerConfig.wikidoc ├── include │ ├── sr.h │ └── swissranger_camera │ │ └── utility.h ├── launch │ ├── publisher_for_calibration.launch │ ├── sr_eth.launch │ ├── sr_usb.launch │ ├── startcamera.launch │ └── test_sr.yaml ├── mainpage.dox ├── package.xml ├── rosdep.yaml └── src │ ├── dev_sr.cpp │ ├── sr.cpp │ └── swissranger_camera │ └── utility.cpp └── tracking ├── CMakeLists.txt ├── apps ├── moving_average_filter_node.cpp ├── tracker_filter_node.cpp └── tracker_node.cpp ├── cfg ├── MovingAverageSmoother.cfg ├── Tracker.cfg └── TrackerSmoother.cfg ├── conf ├── moving_average_filter.yaml ├── 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