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
b)Train with offline_train_2.py:
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 max range scanned (float)
*Enter filename (string, no quotes)
trained data will be saved as : <input>.<trainingdata>
!!!When asked for max laser range, input the maximum range scanned
during the recording, not the maximum range at which you want to train
c)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).
RECOMMENDATION:
Use same timewindow, and wall set time for each training set, and use the same values when
evaluating