├── .clang-format ├── .gitignore ├── .vscode ├── c_cpp_properties.json ├── settings.json └── tasks.json ├── LICENSE ├── README.md ├── assets └── pedestrians_environment.png └── src ├── .vscode ├── c_cpp_properties.json └── settings.json ├── CMakeLists.txt ├── pedestrian_detection ├── CMakeLists.txt ├── package.xml ├── scripts │ ├── cfgs │ │ ├── base_dr_spaam_drow_cfg.yaml │ │ ├── base_dr_spaam_jrdb_cfg.yaml │ │ ├── base_drow_drow_cfg.yaml │ │ └── base_drow_jrdb_cfg.yaml │ ├── dr_spaam │ │ ├── __init__.py │ │ ├── datahandle │ │ │ ├── __init__.py │ │ │ ├── _pypcd.py │ │ │ ├── drow_handle.py │ │ │ ├── jrdb_handle.py │ │ │ └── jrdb_handle_det3d.py │ │ ├── dataset │ │ │ ├── __init__.py │ │ │ ├── builder.py │ │ │ ├── drow_dataset.py │ │ │ └── jrdb_dataset.py │ │ ├── detector.py │ │ ├── model │ │ │ ├── __init__.py │ │ │ ├── _common.py │ │ │ ├── dr_spaam.py │ │ │ ├── dr_spaam_fn.py │ │ │ ├── drow_net.py │ │ │ ├── get_model.py │ │ │ └── losses.py │ │ ├── pipeline │ │ │ ├── __init__.py │ │ │ ├── logger.py │ │ │ ├── optim.py │ │ │ ├── pipeline.py │ │ │ └── trainer.py │ │ ├── pseudo_labels.py │ │ └── utils │ │ │ ├── __init__.py │ │ │ ├── jrdb_transforms.py │ │ │ ├── jrdb_utils.py │ │ │ ├── plotting.py │ │ │ ├── precision_recall.py │ │ │ ├── pytorch_nms │ │ │ ├── LICENSE │ │ │ ├── README.md │ │ │ ├── setup.py │ │ │ └── src │ │ │ │ ├── nms.cpp │ │ │ │ ├── nms │ │ │ │ └── __init__.py │ │ │ │ └── nms_kernel.cu │ │ │ └── utils.py │ └── dr_spaam_ros.py └── weight │ ├── ckpt_jrdb_ann_dr_spaam_e20.pth │ └── ckpt_jrdb_ann_drow3_e40.pth ├── pedestrian_plugins ├── 3rdparty │ ├── spencer_messages │ │ ├── .gitignore │ │ ├── LICENSE │ │ ├── README.md │ │ ├── spencer_control_msgs │ │ │ ├── CHANGELOG.rst │ │ │ ├── CMakeLists.txt │ │ │ ├── LICENSE │ │ │ ├── msg │ │ │ │ └── ComponentStatus.msg │ │ │ └── package.xml │ │ ├── spencer_human_attribute_msgs │ │ │ ├── CHANGELOG.rst │ │ │ ├── CMakeLists.txt │ │ │ ├── LICENSE │ │ │ ├── msg │ │ │ │ ├── CategoricalAttribute.msg │ │ │ │ ├── HumanAttributes.msg │ │ │ │ └── ScalarAttribute.msg │ │ │ └── package.xml │ │ ├── spencer_social_relation_msgs │ │ │ ├── CHANGELOG.rst │ │ │ ├── CMakeLists.txt │ │ │ ├── LICENSE │ │ │ ├── msg │ │ │ │ ├── SocialActivities.msg │ │ │ │ ├── SocialActivity.msg │ │ │ │ ├── SocialRelation.msg │ │ │ │ └── SocialRelations.msg │ │ │ └── package.xml │ │ ├── spencer_tracking_msgs │ │ │ ├── CHANGELOG.rst │ │ │ ├── CMakeLists.txt │ │ │ ├── LICENSE │ │ │ ├── msg │ │ │ │ ├── CompositeDetectedPerson.msg │ │ │ │ ├── CompositeDetectedPersons.msg │ │ │ │ ├── DetectedPerson.msg │ │ │ │ ├── DetectedPersons.msg │ │ │ │ ├── ImmDebugInfo.msg │ │ │ │ ├── ImmDebugInfos.msg │ │ │ │ ├── PersonTrajectory.msg │ │ │ │ ├── PersonTrajectoryEntry.msg │ │ │ │ ├── TrackedGroup.msg │ │ │ │ ├── TrackedGroups.msg │ │ │ │ ├── TrackedPerson.msg │ │ │ │ ├── TrackedPerson2d.msg │ │ │ │ ├── TrackedPersons.msg │ │ │ │ ├── TrackedPersons2d.msg │ │ │ │ └── TrackingTimingMetrics.msg │ │ │ ├── package.xml │ │ │ └── srv │ │ │ │ └── GetPersonTrajectories.srv │ │ └── spencer_vision_msgs │ │ │ ├── CHANGELOG.rst │ │ │ ├── CMakeLists.txt │ │ │ ├── LICENSE │ │ │ ├── msg │ │ │ ├── PersonImage.msg │ │ │ ├── PersonImages.msg │ │ │ ├── PersonROI.msg │ │ │ └── PersonROIs.msg │ │ │ └── package.xml │ └── spencer_tracking_rviz_plugin │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── icons │ │ └── classes │ │ │ ├── DetectedPersons.png │ │ │ ├── HumanAttributes.png │ │ │ ├── SocialActivities.png │ │ │ ├── SocialRelations.png │ │ │ ├── TrackedGroups.png │ │ │ └── TrackedPersons.png │ │ ├── media │ │ ├── animated_walking_man.mesh │ │ ├── animated_walking_man.skeleton │ │ ├── female_symbol.dae │ │ └── male_symbol.dae │ │ ├── package.xml │ │ ├── plugin_description.xml │ │ ├── scripts │ │ └── send_test_msgs.py │ │ └── src │ │ ├── additional_topic_subscriber.h │ │ ├── detected_persons_display.cpp │ │ ├── detected_persons_display.h │ │ ├── human_attributes_display.cpp │ │ ├── human_attributes_display.h │ │ ├── person_display_common.cpp │ │ ├── person_display_common.h │ │ ├── social_activities_display.cpp │ │ ├── social_activities_display.h │ │ ├── social_relations_display.cpp │ │ ├── social_relations_display.h │ │ ├── tracked_groups_display.cpp │ │ ├── tracked_groups_display.h │ │ ├── tracked_persons_cache.cpp │ │ ├── tracked_persons_cache.h │ │ ├── tracked_persons_display.cpp │ │ ├── tracked_persons_display.h │ │ └── visuals │ │ ├── covariance_visual.h │ │ ├── mesh_node.h │ │ ├── person_visual.cpp │ │ ├── person_visual.h │ │ └── text_node.h ├── gazebo_ped_visualizer_plugin │ ├── gazebo_ped_visualizer_plugin │ │ ├── CMakeLists.txt │ │ ├── include │ │ │ └── pedestrian_visual_plugin.h │ │ ├── package.xml │ │ └── src │ │ │ └── pedestrian_visual_plugin.cpp │ └── pedsim_msgs │ │ ├── CMakeLists.txt │ │ ├── msg │ │ ├── AgentForce.msg │ │ ├── AgentGroup.msg │ │ ├── AgentGroups.msg │ │ ├── AgentState.msg │ │ ├── AgentStates.msg │ │ ├── AllAgentsState.msg │ │ ├── LineObstacle.msg │ │ ├── LineObstacles.msg │ │ ├── SocialActivities.msg │ │ ├── SocialActivity.msg │ │ ├── SocialRelation.msg │ │ ├── SocialRelations.msg │ │ ├── TrackedGroup.msg │ │ ├── TrackedGroups.msg │ │ ├── TrackedPerson.msg │ │ ├── TrackedPersons.msg │ │ ├── Waypoint.msg │ │ └── Waypoints.msg │ │ └── package.xml └── gazebo_sfm_plugin │ ├── CMakeLists.txt │ ├── include │ ├── lightsfm │ │ ├── angle.hpp │ │ ├── map.hpp │ │ ├── sfm.hpp │ │ └── vector2d.hpp │ └── pedestrian_sfm_plugin.h │ ├── package.xml │ ├── src │ └── pedestrian_sfm_plugin.cpp │ └── srv │ └── ped_state.srv ├── pedestrian_simulation ├── CMakeLists.txt ├── config │ ├── amcl_params.yaml │ ├── costmap_common_params.yaml │ ├── dwa_local_planner_params.yaml │ ├── global_costmap_params.yaml │ ├── local_costmap_params.yaml │ └── move_base_params.yaml ├── launch │ ├── config.launch │ ├── include │ │ ├── amcl.launch.xml │ │ └── move_base.launch.xml │ └── main.launch ├── maps │ ├── blank │ │ ├── blank.pgm │ │ └── blank.yaml │ └── test_scene │ │ ├── test_scene.pgm │ │ └── 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