README.md

Introduction

This ROS package provides a script and launch files for playing back old annotated people tracking logfiles in CARMEN format, such as those found here (Freiburg City Center/Aspekt and Main Station):

Annotated 2D laser datasets (Social Robotics Labs, University of Freiburg)

Usage

The script publishes the following topics for each available sensor:

• sensor_msgs/LaserScan with the original laser scan data
• srl_laser_segmentation/LaserscanSegmentation with the annotations (each laser endpoint is labelled with an integer label, corresponding to the track ID)
• sensor_msgs/Image, if a camera was used during recording and the corresponding .bin file is present in the same directory

The srl_laser_segmentation/LaserscanSegmentation messages can be converted into spencer_tracking_msgs/TrackedPersons via the following command-line (note you might have to rename the input and output topics properly, check rostopic list and rosnode info on the involved ROS nodes):

rosrun srl_laser_segmentation segmentation_to_tracks.py

The resulting TrackedPersons messages can then, for instance, be used as a groundtruth input to spencer_tracking_metrics.

Credits

©2014-2015 Timm Linder, Social Robotics Laboratory, University of Freiburg