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29
simulators/third_party/rviz_plugins/spencer_messages/.gitignore vendored Executable file
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# Compiled Object files
*.slo
*.lo
*.o
*.obj
# Precompiled Headers
*.gch
*.pch
# Compiled Dynamic libraries
*.so
*.dylib
*.dll
# Fortran module files
*.mod
*.smod
# Compiled Static libraries
*.lai
*.la
*.a
*.lib
# Executables
*.exe
*.out
*.app

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simulators/third_party/rviz_plugins/spencer_messages/LICENSE vendored Executable file
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Copyright (c) 2016, spencer.eu
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

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simulators/third_party/rviz_plugins/spencer_messages/README.md vendored Executable file
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# spencer_messages

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simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/CHANGELOG.rst vendored Executable file
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package spencer_control_msgs
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1.0.8 (2017-09-22)
------------------
* Merge pull request `#41 <https://github.com/LCAS/spencer_people_tracking/issues/41>`_ from LCAS/master
1.0.7
* Contributors: Timm Linder
1.0.7 (2017-06-09)
------------------
1.0.6 (2017-06-09)
------------------
1.0.5 (2017-05-12)
------------------
1.0.4 (2017-05-12)
------------------
1.0.3 (2017-05-11)
------------------
1.0.2 (2017-05-09)
------------------
* added missing roslib deps
* Contributors: Marc Hanheide
1.0.1 (2017-05-09)
------------------
* homogenised all version strings to 1.0.0
* Adding missing spencer_control_msgs package
* Contributors: Marc Hanheide, Timm Linder

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simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/CMakeLists.txt vendored Executable file
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cmake_minimum_required(VERSION 2.8.3)
project(spencer_control_msgs)
find_package(catkin REQUIRED COMPONENTS
roscpp
roslib
std_msgs
message_generation
)
################################################
## Declare ROS messages, services and actions ##
################################################
# Generate messages in the 'msg' folder
add_message_files(
FILES
ComponentStatus.msg
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
)
###################################
## catkin specific configuration ##
###################################
catkin_package(
CATKIN_DEPENDS roscpp std_msgs message_runtime
)

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simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/LICENSE vendored Executable file
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Software License Agreement (BSD License)
Copyright (c) 2013-2015 Timm Linder, Social Robotics Laboratory, University of Freiburg
Copyright (c) 2014-2015 Stefan Breuers, Lucas Beyer, Computer Vision Group, RWTH Aachen University
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the name of the copyright holder nor the names of its contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE

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simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/msg/ComponentStatus.msg vendored Executable file
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string name
bool alive
string detail

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simulators/third_party/rviz_plugins/spencer_messages/spencer_control_msgs/package.xml vendored Executable file
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<?xml version="1.0"?>
<package>
<name>spencer_control_msgs</name>
<version>1.0.8</version>
<description>Messages used for controlling the SPENCER robot platform.</description>
<maintainer email="linder@cs.uni-freiburg.de">Timm Linder</maintainer>
<author email="linder@cs.uni-freiburg.de">Timm Linder</author>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>message_generation</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>std_msgs</build_depend>
<run_depend>message_runtime</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>std_msgs</run_depend>
<build_depend>roslib</build_depend><run_depend>roslib</run_depend></package>

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simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/CHANGELOG.rst vendored Executable file
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package spencer_human_attribute_msgs
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1.0.8 (2017-09-22)
------------------
* Merge pull request `#2 <https://github.com/LCAS/spencer_people_tracking/issues/2>`_ from spencer-project/master
Integrate multiple fixes from upstream
* Specify correct license in package.xmls
* Merge pull request `#41 <https://github.com/LCAS/spencer_people_tracking/issues/41>`_ from LCAS/master
1.0.7
* Contributors: Marc Hanheide, Timm Linder
1.0.7 (2017-06-09)
------------------
1.0.6 (2017-06-09)
------------------
1.0.5 (2017-05-12)
------------------
1.0.4 (2017-05-12)
------------------
1.0.3 (2017-05-11)
------------------
1.0.2 (2017-05-09)
------------------
* added missing roslib deps
* Contributors: Marc Hanheide
1.0.1 (2017-05-09)
------------------
* homogenised all version strings to 1.0.0
* Updated licenses
* Adding message definitions, RViz plugins and mock scripts
* Contributors: Marc Hanheide, Timm Linder

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simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/CMakeLists.txt vendored Executable file
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cmake_minimum_required(VERSION 2.8.3)
project(spencer_human_attribute_msgs)
find_package(catkin REQUIRED COMPONENTS
roscpp
roslib
std_msgs
message_generation
)
################################################
## Declare ROS messages, services and actions ##
################################################
# Generate messages in the 'msg' folder
add_message_files(
FILES
CategoricalAttribute.msg
ScalarAttribute.msg
HumanAttributes.msg
)
# Generate services in the 'srv' folder
#add_service_files(
# FILES
#)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
)
###################################
## catkin specific configuration ##
###################################
catkin_package(
CATKIN_DEPENDS roscpp std_msgs message_runtime
)

28
simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/LICENSE vendored Executable file
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Software License Agreement (BSD License)
Copyright (c) 2014-2015 Timm Linder, Social Robotics Laboratory, University of Freiburg
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the name of the copyright holder nor the names of its contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE

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simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/msg/CategoricalAttribute.msg vendored Executable file
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uint64 subject_id # either an observation ID or a track ID (if information has been integrated over time); should be encoded in topic name
string type # type of the attribute, see constants below
string[] values # values, each value also should have a confidence, highest-confidence attribute should come first
float32[] confidences # corresponding confidences should sum up to 1.0, highest confidence comes first
##################################################
### Constants for categorical attribute types. ###
##################################################
string GENDER = gender
string AGE_GROUP = age_group
###################################################
### Constants for categorical attribute values. ###
###################################################
string GENDER_MALE = male
string GENDER_FEMALE = female
# Age groups are based upon the categories from the "Images Of Groups" RGB database
string AGE_GROUP_0_TO_2 = 0-2
string AGE_GROUP_3_TO_7 = 3-7
string AGE_GROUP_8_TO_12 = 8-12
string AGE_GROUP_13_TO_19 = 13-19
string AGE_GROUP_20_TO_36 = 20-36
string AGE_GROUP_37_TO_65 = 37-65
string AGE_GROUP_66_TO_99 = 66-99

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simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/msg/HumanAttributes.msg vendored Executable file
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std_msgs/Header header
# One entry per attribute type per person
CategoricalAttribute[] categoricalAttributes
ScalarAttribute[] scalarAttributes

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simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/msg/ScalarAttribute.msg vendored Executable file
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uint64 subject_id # either an observation ID or a track ID (if information has been integrated over time); should be encoded in topic name
string type # type of the attribute, see constants below
float32[] values # values, each value also should have a confidence; highest-confidence value comes first!
float32[] confidences # corresponding confidences should sum up to 1.0
###########################################
### Constants for scalar attribute types. #
###########################################
string PERSON_HEIGHT = person_height

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simulators/third_party/rviz_plugins/spencer_messages/spencer_human_attribute_msgs/package.xml vendored Executable file
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<?xml version="1.0"?>
<package>
<name>spencer_human_attribute_msgs</name>
<version>1.0.8</version>
<description>Messages used for Human Attribute Recognition</description>
<maintainer email="linder@informatik.uni-freiburg.de">Timm Linder</maintainer>
<author email="linder@informatik.uni-freiburg.de">Timm Linder</author>
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>message_generation</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>std_msgs</build_depend>
<run_depend>message_runtime</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>std_msgs</run_depend>
<build_depend>roslib</build_depend><run_depend>roslib</run_depend></package>

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simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/CHANGELOG.rst vendored Executable file
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package spencer_social_relation_msgs
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1.0.8 (2017-09-22)
------------------
* Merge pull request `#2 <https://github.com/LCAS/spencer_people_tracking/issues/2>`_ from spencer-project/master
Integrate multiple fixes from upstream
* Specify correct license in package.xmls
* Merge pull request `#41 <https://github.com/LCAS/spencer_people_tracking/issues/41>`_ from LCAS/master
1.0.7
* Contributors: Marc Hanheide, Timm Linder
1.0.7 (2017-06-09)
------------------
1.0.6 (2017-06-09)
------------------
1.0.5 (2017-05-12)
------------------
1.0.4 (2017-05-12)
------------------
1.0.3 (2017-05-11)
------------------
1.0.2 (2017-05-09)
------------------
* added missing roslib deps
* Contributors: Marc Hanheide
1.0.1 (2017-05-09)
------------------
* homogenised all version strings to 1.0.0
* Updating lots of utility packages to latest version from SPENCER repo. Licenses updated.
* Updated licenses
* Adding message definitions, RViz plugins and mock scripts
* Contributors: Marc Hanheide, Timm Linder

46
simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/CMakeLists.txt vendored Executable file
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cmake_minimum_required(VERSION 2.8.3)
project(spencer_social_relation_msgs)
find_package(catkin REQUIRED COMPONENTS
roscpp
roslib
std_msgs
sensor_msgs
nav_msgs
geometry_msgs
message_generation
)
################################################
## Declare ROS messages, services and actions ##
################################################
# Generate messages in the 'msg' folder
add_message_files(
FILES
SocialRelation.msg
SocialRelations.msg
SocialActivity.msg
SocialActivities.msg
)
# Generate services in the 'srv' folder
#add_service_files(
# FILES
#)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
geometry_msgs
sensor_msgs
nav_msgs
std_msgs
)
###################################
## catkin specific configuration ##
###################################
catkin_package(
CATKIN_DEPENDS roscpp std_msgs sensor_msgs nav_msgs geometry_msgs message_runtime
)

28
simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/LICENSE vendored Executable file
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Software License Agreement (BSD License)
Copyright (c) 2014-2015 Timm Linder, Billy Okal, Social Robotics Laboratory, University of Freiburg
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the name of the copyright holder nor the names of its contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE

5
simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/msg/SocialActivities.msg vendored Executable file
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std_msgs/Header header
# All social activities that have been detected in the current time step,
# within sensor range of the robot.
SocialActivity[] elements

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simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/msg/SocialActivity.msg vendored Executable file
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string type # see constants below
float32 confidence # detection confidence
uint64[] track_ids # IDs of all person tracks involved in the activity, might be one or multiple
# Constants for social activity type (just examples at the moment)
string TYPE_SHOPPING = shopping
string TYPE_STANDING = standing
string TYPE_INDIVIDUAL_MOVING = individual_moving
string TYPE_WAITING_IN_QUEUE = waiting_in_queue
string TYPE_LOOKING_AT_INFORMATION_SCREEN = looking_at_information_screen
string TYPE_LOOKING_AT_KIOSK = looking_at_kiosk
string TYPE_GROUP_ASSEMBLING = group_assembling
string TYPE_GROUP_MOVING = group_moving
string TYPE_FLOW_WITH_ROBOT = flow
string TYPE_ANTIFLOW_AGAINST_ROBOT = antiflow
string TYPE_WAITING_FOR_OTHERS = waiting_for_others
string TYPE_LOOKING_FOR_HELP = looking_for_help
#string TYPE_COMMUNICATING = communicating
#string TYPE_TAKING_PHOTOGRAPH = taking_photograph
#string TYPE_TALKING_ON_PHONE = talking_on_phone

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simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/msg/SocialRelation.msg vendored Executable file
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string type # e.g. mother-son relationship, romantic relationship, etc.
float32 strength # relationship strength between 0.0 and 1.0
uint32 track1_id
uint32 track2_id
# Constants for type (just examples at the moment)
string TYPE_SPATIAL = "spatial"
string TYPE_ROMANTIC = "romantic"
string TYPE_PARENT_CHILD = "parent_child"
string TYPE_FRIENDSHIP = "friendship"

5
simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/msg/SocialRelations.msg vendored Executable file
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std_msgs/Header header
# All social relations of all tracks in the current time step.
# There might be multiple social relations per pair of tracks.
SocialRelation[] elements

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simulators/third_party/rviz_plugins/spencer_messages/spencer_social_relation_msgs/package.xml vendored Executable file
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<?xml version="1.0"?>
<package>
<name>spencer_social_relation_msgs</name>
<version>1.0.8</version>
<description>Messages used for Social Activity Detection and Social Relation Analysis</description>
<maintainer email="linder@informatik.uni-freiburg.de">Timm Linder</maintainer>
<license>BSD</license>
<author email="linder@informatik.uni-freiburg.de">Timm Linder</author>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>message_generation</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>nav_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<run_depend>message_runtime</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>nav_msgs</run_depend>
<run_depend>geometry_msgs</run_depend>
<build_depend>roslib</build_depend><run_depend>roslib</run_depend></package>

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simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/CHANGELOG.rst vendored Executable file
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package spencer_tracking_msgs
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1.0.8 (2017-09-22)
------------------
* Merge pull request `#2 <https://github.com/LCAS/spencer_people_tracking/issues/2>`_ from spencer-project/master
Integrate multiple fixes from upstream
* Specify correct license in package.xmls
* Merge pull request `#41 <https://github.com/LCAS/spencer_people_tracking/issues/41>`_ from LCAS/master
1.0.7
* Contributors: Marc Hanheide, Timm Linder
1.0.7 (2017-06-09)
------------------
1.0.6 (2017-06-09)
------------------
1.0.5 (2017-05-12)
------------------
1.0.4 (2017-05-12)
------------------
1.0.3 (2017-05-11)
------------------
1.0.2 (2017-05-09)
------------------
* added missing roslib deps
* Contributors: Marc Hanheide
1.0.1 (2017-05-09)
------------------
* homogenised all version strings to 1.0.0
* Updating lots of utility packages to latest version from SPENCER repo. Licenses updated.
* Updated licenses
* Adding is_matched field in TrackedPerson message to distinguish between misdetections and physical occlusions
* Adding message definitions, RViz plugins and mock scripts
* Contributors: Marc Hanheide, Timm Linder

52
simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/CMakeLists.txt vendored Executable file
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cmake_minimum_required(VERSION 2.8.3)
project(spencer_tracking_msgs)
find_package(catkin REQUIRED COMPONENTS
roscpp
roslib
std_msgs
geometry_msgs
message_generation
)
################################################
## Declare ROS messages, services and actions ##
################################################
# Generate messages in the 'msg' folder
add_message_files(
FILES
DetectedPerson.msg
DetectedPersons.msg
CompositeDetectedPerson.msg
CompositeDetectedPersons.msg
TrackedPerson.msg
TrackedPersons.msg
TrackedPerson2d.msg
TrackedPersons2d.msg
TrackedGroup.msg
TrackedGroups.msg
ImmDebugInfo.msg
ImmDebugInfos.msg
TrackingTimingMetrics.msg
)
# Generate services in the 'srv' folder
add_service_files(
FILES
GetPersonTrajectories.srv
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
geometry_msgs
std_msgs
)
###################################
## catkin specific configuration ##
###################################
catkin_package(
CATKIN_DEPENDS roscpp std_msgs geometry_msgs message_runtime
)

29
simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/LICENSE vendored Executable file
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Software License Agreement (BSD License)
Copyright (c) 2013-2015 Timm Linder, Social Robotics Laboratory, University of Freiburg
Copyright (c) 2014-2015 Stefan Breuers, Lucas Beyer, Computer Vision Group, RWTH Aachen University
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the name of the copyright holder nor the names of its contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE

20
simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/CompositeDetectedPerson.msg vendored Executable file
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# Specifies which detected persons have been merged into a composite detection by the spencer_detected_person_association module.
# TODO: Do we need a composite person-specific timestamp (or even a full message header including frame ID)?
# Having a separate timestamp per person could be useful if the timestamps of the merged DetectedPersons messages vary a lot,
# and some persons are only seen by a single sensor (so averaging over all input timestamps would have a detrimental effect).
uint64 composite_detection_id # ID of the fused detection
float64 mean_confidence # mean of the confidences of the original detections
float64 max_confidence # maximum confidence of original detections
float64 min_confidence # minimum confidence of original detections
geometry_msgs/PoseWithCovariance pose # Merged 3D pose (position + orientation) of the detection center
# check covariance to see which dimensions are actually set!
# unset dimensions shall have a covariance > 9999
DetectedPerson[] original_detections # The original detections from individual sensor-specific detectors that have been combined into a composite detection
# We are copying the entire DetectedPersons messages, *with poses transformed into the target frame*, such that subscribers
# do not have to subscribe to all the original DetectedPersons topics.

8
simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/CompositeDetectedPersons.msg vendored Executable file
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# Message specifying which original detected persons (from all kinds of sensors) have been merged into one fused detection before being processed by the person tracker, in the current time step.
#
# This information is processed by the spencer_detected_person_association module, such that other perception components can associate their results (e.g. person age, gender)
# with a particular spencer_tracking_msgs/TrackedPerson (which contains a reference to a composite person detection ID).
Header header # Header timestamp is set to the *latest* timestamp of all fused DetectedPerson messages.
# Before fusion, all detections are transformed into a common coordinate frame (usually base_footprint).
CompositeDetectedPerson[] elements # Fused (merged) detected persons

23
simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/DetectedPerson.msg vendored Executable file
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# Message describing a detection of a person
#
# Unique id of the detection, monotonically increasing over time
uint64 detection_id
# (Pseudo-)probabilistic value between 0.0 and 1.0 describing the detector's confidence in the detection
float64 confidence
# 3D pose (position + orientation) of the *center* of the detection
# check covariance to see which dimensions are actually set! unset dimensions shall have a covariance > 9999
geometry_msgs/PoseWithCovariance pose
# Sensor modality / detector type, see example constants below.
# used e.g. later in tracking to check which tracks have been visually confirmed
string modality
string MODALITY_GENERIC_LASER_2D = laser2d
string MODALITY_GENERIC_LASER_3D = laser3d
string MODALITY_GENERIC_MONOCULAR_VISION = mono
string MODALITY_GENERIC_STEREO_VISION = stereo
string MODALITY_GENERIC_RGBD = rgbd

5
simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/DetectedPersons.msg vendored Executable file
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# Message with all currently detected persons
#
Header header # Header containing timestamp etc. of this message
DetectedPerson[] detections # All persons that are currently being detected

10
simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/ImmDebugInfo.msg vendored Executable file
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# Message for passing debug information of filter performance
#
uint64 track_id # unique identifier of the target, consistent over time
float64 innovation # innovation of prediction and associated observation
float64 CpXX # variance of prediction acc. to x
float64 CpYY # variance of prediction acc. to y
float64 CXX # variance of state acc. to x
float64 CYY # variance of state acc. to y
float64[] modeProbabilities# array containing mode probabilities

5
simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/ImmDebugInfos.msg vendored Executable file
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# Message with all debug infos per frame
#
Header header # Header containing timestamp etc. of this message
ImmDebugInfo[] infos # All persons that are currently being tracked

10
simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/PersonTrajectory.msg vendored Executable file
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# Message defining the trajectory of a tracked person.
#
# The distinction between track and trajectory is that, depending on the
# implementation of the tracker, a single track (i.e. tracked person) might
# change the trajectory if at some point a new trajectory "fits" that track (person)
# better.
#
uint64 track_id # Unique identifier of the tracked person.
PersonTrajectoryEntry[] trajectory # All states of the last T frames of the most likely trajectory of that tracked person.

11
simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/PersonTrajectoryEntry.msg vendored Executable file
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# Message defining an entry of a person trajectory.
#
time stamp # age of the track
bool is_occluded # if the track is currently not matched by a detection
uint64 detection_id # id of the corresponding detection in the current cycle (undefined if occluded)
# The following fields are extracted from the Kalman state x and its covariance C
geometry_msgs/PoseWithCovariance pose # pose of the track (z value and orientation might not be set, check if corresponding variance on diagonal is > 99999)
geometry_msgs/TwistWithCovariance twist # velocity of the track (z value and rotational velocities might not be set, check if corresponding variance on diagonal is > 99999)

10
simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedGroup.msg vendored Executable file
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# Message defining a tracked group
#
uint64 group_id # unique identifier of the target, consistent over time
duration age # age of the group
geometry_msgs/PoseWithCovariance centerOfGravity # mean and covariance of the group (calculated from its person tracks)
uint64[] track_ids # IDs of the tracked persons in this group. See srl_tracking_msgs/TrackedPersons

5
simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedGroups.msg vendored Executable file
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# Message with all currently tracked groups
#
Header header # Header containing timestamp etc. of this message
TrackedGroup[] groups # All groups that are currently being tracked

14
simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedPerson.msg vendored Executable file
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# Message defining a tracked person
#
uint64 track_id # unique identifier of the target, consistent over time
bool is_occluded # if the track is currently not observable in a physical way
bool is_matched # if the track is currently matched by a detection
uint64 detection_id # id of the corresponding detection in the current cycle (undefined if occluded)
duration age # age of the track
# The following fields are extracted from the Kalman state x and its covariance C
geometry_msgs/PoseWithCovariance pose # pose of the track (z value and orientation might not be set, check if corresponding variance on diagonal is > 99999)
geometry_msgs/TwistWithCovariance twist # velocity of the track (z value and rotational velocities might not be set, check if corresponding variance on diagonal is > 99999)

10
simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedPerson2d.msg vendored Executable file
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# Message defining a 2d image bbox of a tracked person
#
uint64 track_id # unique identifier of the target, consistent over time
float32 person_height # 3d height of person in m
int32 x # top left corner x of 2d image bbox
int32 y # top left corner y of 2d image bbox
uint32 w # width of 2d image bbox
uint32 h # height of 2d image bbox
float32 depth # distance from the camera in m

5
simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedPersons.msg vendored Executable file
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# Message with all currently tracked persons
#
Header header # Header containing timestamp etc. of this message
TrackedPerson[] tracks # All persons that are currently being tracked

5
simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackedPersons2d.msg vendored Executable file
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# Message with all 2d bbox in image of currently tracked persons
#
Header header # Header containing timestamp etc. of this message
TrackedPerson2d[] boxes # All persons that are currently being tracked (2d image bbox)

13
simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/msg/TrackingTimingMetrics.msg vendored Executable file
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# Message with timing values for analyzing the efficency
#
Header header # Header containing timestamp etc. of this message
uint64 track_count # number of person currentl tracked
uint64 cycle_no # incremented number of cycles
float32 average_cycle_time # average time for one cycle of tracker
float32 cycle_time # cycle time of current cycle
float32 average_processing_rate # average frequency of processing data
float32 cpu_load # current cpu load
float32 average_cpu_load # average cpu load
float32 elapsed_time # elapsed seconds since start
float32 elapsed_cpu_time # elapsed cpu time since start

29
simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/package.xml vendored Executable file
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<?xml version="1.0"?>
<package>
<name>spencer_tracking_msgs</name>
<version>1.0.8</version>
<description>Messages used for Person Detection and Tracking</description>
<maintainer email="linder@informatik.uni-freiburg.de">Timm Linder</maintainer>
<maintainer email="breuers@vision.rwth-aachen.de">Stefan Breuers</maintainer>
<maintainer email="beyer@vision.rwth-aachen.de">Lucas Beyer</maintainer>
<license>BSD</license>
<author email="linder@informatik.uni-freiburg.de">Timm Linder</author>
<author email="breuers@vision.rwth-aachen.de">Stefan Breuers</author>
<author email="beyer@vision.rwth-aachen.de">Lucas Beyer</author>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>message_generation</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<run_depend>message_runtime</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>geometry_msgs</run_depend>
<build_depend>roslib</build_depend><run_depend>roslib</run_depend></package>

4
simulators/third_party/rviz_plugins/spencer_messages/spencer_tracking_msgs/srv/GetPersonTrajectories.srv vendored Executable file
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uint64[] requested_ids # The IDs of the tracks you are interested in getting the trajectories of. An empty array means all available tracks.
duration max_age # The maximum age of a trajectory you want to get. A duration of 0 means "since the beginning of times."
---
PersonTrajectory[] trajectories # The trajectories of the tracks that have been asked for in requested_ids, in the same order.

39
simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/CHANGELOG.rst vendored Executable file
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package spencer_vision_msgs
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1.0.8 (2017-09-22)
------------------
* Merge pull request `#2 <https://github.com/LCAS/spencer_people_tracking/issues/2>`_ from spencer-project/master
Integrate multiple fixes from upstream
* Specify correct license in package.xmls
* Merge pull request `#41 <https://github.com/LCAS/spencer_people_tracking/issues/41>`_ from LCAS/master
1.0.7
* Contributors: Marc Hanheide, Timm Linder
1.0.7 (2017-06-09)
------------------
1.0.6 (2017-06-09)
------------------
1.0.5 (2017-05-12)
------------------
1.0.4 (2017-05-12)
------------------
1.0.3 (2017-05-11)
------------------
1.0.2 (2017-05-09)
------------------
* added missing roslib deps
* Contributors: Marc Hanheide
1.0.1 (2017-05-09)
------------------
* homogenised all version strings to 1.0.0
* Updated licenses
* Adding message definitions, RViz plugins and mock scripts
* Contributors: Marc Hanheide, Timm Linder

44
simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/CMakeLists.txt vendored Executable file
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cmake_minimum_required(VERSION 2.8.3)
project(spencer_vision_msgs)
find_package(catkin REQUIRED COMPONENTS
roscpp
roslib
std_msgs
sensor_msgs
geometry_msgs
message_generation
)
################################################
## Declare ROS messages, services and actions ##
################################################
# Generate messages in the 'msg' folder
add_message_files(
FILES
PersonImage.msg
PersonImages.msg
PersonROI.msg
PersonROIs.msg
)
# Generate services in the 'srv' folder
#add_service_files(
# FILES
#)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
geometry_msgs
sensor_msgs
std_msgs
)
###################################
## catkin specific configuration ##
###################################
catkin_package(
CATKIN_DEPENDS roscpp std_msgs sensor_msgs geometry_msgs message_runtime
)

29
simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/LICENSE vendored Executable file
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Software License Agreement (BSD License)
Copyright (c) 2013-2015 Timm Linder, Social Robotics Laboratory, University of Freiburg
Copyright (c) 2014-2015 Stefan Breuers, Lucas Beyer, Computer Vision Group, RWTH Aachen University
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the name of the copyright holder nor the names of its contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE

6
simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/msg/PersonImage.msg vendored Executable file
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# Message describing a depth or RGB image containing a part of a person (e.g. head, face, full body...), which is usually encoded in the topic title
#
uint64 detection_id
sensor_msgs/Image image

5
simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/msg/PersonImages.msg vendored Executable file
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# Message describing an array of depth or RGB images containing a part of a person (e.g. head, face, full body...), which is usually encoded in the topic title
#
std_msgs/Header header
PersonImage[] elements

7
simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/msg/PersonROI.msg vendored Executable file
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# Message describing a rectangular region of interest in a depth or RGB image containing a part of a person (e.g. head, face, full body...), which is usually encoded in the topic title
#
uint64 detection_id
sensor_msgs/RegionOfInterest roi

9
simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/msg/PersonROIs.msg vendored Executable file
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# Message describing an array of rectangular regions of interest in a depth or RGB image containing a part of a person (e.g. head, face, full body...), which is usually encoded in the topic title
#
std_msgs/Header header
string rgb_topic # not necessarily the raw camera output; might be preprocessed for rectification etc.
string depth_topic # might not be set if depth is not available, otherwise it is the registered depth image
PersonROI[] elements

31
simulators/third_party/rviz_plugins/spencer_messages/spencer_vision_msgs/package.xml vendored Executable file
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<?xml version="1.0"?>
<package>
<name>spencer_vision_msgs</name>
<version>1.0.8</version>
<description>Messages used for Vision-related tasks in SPENCER</description>
<maintainer email="beyer@vision.rwth-aachen.de">Lucas Beyer</maintainer>
<maintainer email="breuers@vision.rwth-aachen.de">Stefan Breuers</maintainer>
<maintainer email="linder@informatik.uni-freiburg.de">Timm Linder</maintainer>
<license>BSD</license>
<author email="linder@informatik.uni-freiburg.de">Timm Linder</author>
<author email="breuers@vision.rwth-aachen.de">Stefan Breuers</author>
<author email="beyer@vision.rwth-aachen.de">Lucas Beyer</author>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>message_generation</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>sensor_msgs</build_depend>
<run_depend>message_runtime</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>sensor_msgs</run_depend>
<build_depend>roslib</build_depend><run_depend>roslib</run_depend></package>