# hdl_people_tracking
***hdl_people_tracking*** is a ROS package for real-time people tracking using a 3D LIDAR. It first performs <cite>[Haselich's clustering technique][1]</cite> to detect human candidate clusters, and then applies <cite>[Kidono's person classifier][2]</cite> to eliminate false detections. The detected clusters are tracked by using Kalman filter with a contant velocity model.
![hdl_people_tracking](http://img.youtube.com/vi/x1WfCYhLfQA/0.jpg)
## Requirements
***hdl_people_tracking*** requires the following libraries:
- OpenMP
- PCL 1.7
The following ros packages are required:
- pcl_ros
- <a href="https://github.com/koide3/ndt_omp">ndt_omp</a>
- <a href="https://github.com/koide3/hdl_localization">hdl_localization</a>
## Example
Bag file (recorded in an outdoor environment):
- [hdl_400.bag.tar.gz](http://www.aisl.cs.tut.ac.jp/databases/hdl_graph_slam/hdl_400.bag.tar.gz) (933MB)
```bash
rosparam set use_sim_time true
roslaunch hdl_people_tracking hdl_people_tracking.launch
```
```bash
roscd hdl_localization/rviz
rviz -d hdl_localization.rviz
```
```bash
rosbag play --clock hdl_400.bag
```
---
[**NOTE**]:
If it doesn't work well, change *ndt_neighbor_search_method* in *hdl_localization.launch* to "DIRECT1". It makes the scan matching significantly fast, but a little bit unstable.
If your bagfile is static (velodyne device is fixed) try with the following launch file without any localization needs:
```bash
rosparam set use_sim_time true
roslaunch hdl_people_tracking hdl_people_tracking_static.launch
```
## Related packages
- [interactive_slam](https://github.com/koide3/interactive_slam)
- <a href="https://github.com/koide3/hdl_graph_slam">hdl_graph_slam</a>
- <a href="https://github.com/koide3/hdl_localization">hdl_localization</a>
- <a href="https://github.com/koide3/hdl_people_tracking">hdl_people_tracking</a>
<img src="data/figs/packages.png"/>
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