Real time recongition of humans through laser scans
#a)Convert R.O.S. bagfiles to suitable .mat files using 'bag2mat.py':
Enter desired destination with file ending in .mat
Command line use:
$rosrun <package_name> bag2mat.py <bag_file_path> <.mat_file_path> <laser_scan_rostopic> <scan_duration>
#b)Annotate with annotate.py (offline_train is no longer used):
Either provide command line arguments with the same order as below, or run the script without arguments and provide them when prompted
*Enter timewindow (int)
*Enter frames to set wall (int)
*Enter filename (string, no quotes)
trained data will be saved as : <input>.<trainingdata>
Command line use:
$python annotate.py <time_window> <wall_set_frames> <mat_file_to_use>
#c)create classifier with merge_train.py:
merge_train will create a classifier in the specified folder
$python merge_train <folder of annotated .mat files>
#d)Test on live data with hpr.py:
Publish laser scans on topic /scan, enable intensities, set min_angle, max_angle to -45,45 degrees
respectively (to be changed).
Command line use : $rosrun <package_name> hpr.py <.p file with annotated data for validation>
RECOMMENDATION:
Use same timewindow, and wall set time for each training set, and use the same values when
evaluating