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person_detector's Introduction

person_detector

基于yolov5和聚类的行人检测

环境

Ubuntu18.04 / opencv3.4 / pcl1.7 / cuda10.0 / cudnn7.6.5 / tensorrt7.0.0 / nvinfer7.0.0

demo

roslaunch person_detector detector_node.launch

launch中的参数：

  • velo_topic：订阅的激光话题
  • image_topic：订阅的图像话题
  • odom_topic: 订阅的里程计信息$(x, y, z, r, p, y)$
  • target_topic: 输出的话题名，目标在世界坐标系下的位置
  • engine_path：yolov5的模型文件
  • verbose：是否输出结果及发布可视化结果相关话题

（可能）发出的话题：

  • annotated：有标注的图像
  • markers：检测到的人物的AABB

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