Merge pull request #1 from spencer-project/master

Latest updates from upstream

.docker/Makefile

@@ -0,0 +1,21 @@
+all: help
+
+help:
+	@echo ""
+	@echo "-- Help Menu"
+	@echo ""
+	@echo "   1. make build            - build images"
+	# @echo "   1. make build_gpu        - build gpu image"
+	# @echo "   1. make pull             - pull all images"
+	# @echo "   1. make clean            - remove all images"
+	@echo ""
+
+build:
+		cd .. && \
+		docker build --tag=spencer/spencer_people_tracking:indigo --file=.docker/indigo/Dockerfile . && \
+		docker build --tag=spencer/spencer_people_tracking:kinetic --file=.docker/kinetic/Dockerfile .
+
+# build_gpu:
+# 		cd .. && \
+# 		docker build --tag=spencer/spencer_people_tracking_gpu:indigo --file=.docker/indigo/Dockerfile_gpu . && \
+# 		docker build --tag=spencer/spencer_people_tracking_gpu:kinetic --file=.docker/kinetic/Dockerfile_gpu .

.docker/indigo/Dockerfile

@@ -0,0 +1,30 @@
+FROM ros:indigo-perception
+
+# Install build tools
+RUN apt-get update && apt-get install -y \
+      python-catkin-tools \
+    && rm -rf /var/lib/apt/lists/*
+
+# Setup workspace
+ENV CATKIN_WS=/root/catkin_ws
+RUN mkdir -p $CATKIN_WS/src
+WORKDIR $CATKIN_WS/src
+
+# Acquire source
+RUN git clone https://github.com/spencer-project/spencer_people_tracking.git
+# COPY . spencer_people_tracking/
+
+# Install dependencies
+RUN apt-get update && \
+    apt-get install -y \
+      wget && \
+    rosdep update && \
+    rosdep install -y -r --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
+    rm -rf /var/lib/apt/lists/*
+
+# Build repo
+WORKDIR $CATKIN_WS
+ENV TERM xterm
+ENV PYTHONIOENCODING UTF-8
+RUN catkin config --extend /opt/ros/$ROS_DISTRO && \
+    catkin build

.docker/kinetic/Dockerfile

@@ -0,0 +1,30 @@
+FROM ros:kinetic-perception
+
+# Install build tools
+RUN apt-get update && apt-get install -y \
+      python-catkin-tools \
+    && rm -rf /var/lib/apt/lists/*
+
+# Setup workspace
+ENV CATKIN_WS=/root/catkin_ws
+RUN mkdir -p $CATKIN_WS/src
+WORKDIR $CATKIN_WS/src
+
+# Acquire source
+RUN git clone https://github.com/spencer-project/spencer_people_tracking.git
+# COPY . spencer_people_tracking/
+
+# Install dependencies
+RUN apt-get update && \
+    apt-get install -y \
+      wget && \
+    rosdep update && \
+    rosdep install -y -r --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false && \
+    rm -rf /var/lib/apt/lists/*
+
+# Build repo
+WORKDIR $CATKIN_WS
+ENV TERM xterm
+ENV PYTHONIOENCODING UTF-8
+RUN catkin config --extend /opt/ros/$ROS_DISTRO && \
+    catkin build

.dockerignore

@@ -0,0 +1,5 @@
+# Avoid chages in metafiles breaking build cache
+.docker
+.git
+.gitignore
+README.md

AUTHORS

@@ -1,5 +1,9 @@
-The spencer_people_tracking framework was developed in the context of the EU FP7 research project SPENCER.
+The spencer_people_tracking framework was developed in the context of the EU FP7 research project SPENCER,
+and is being extended in the context of the EU H2020 research and innovation action ILIAD.
+
 This work has been partly supported by the European Commission under contract number FP7-ICT-600877.
+This work has received funding from the European Union’s Horizon 2020 research and innovation programme
+under grant agreement No. 732737 (ILIAD).
 
 The framework was initially created and is being maintained by:
 
@@ -14,5 +18,6 @@ We are also very thankful to the following additional contributors:
     Fabian Girrbach
     João Avelino
     Kota Weaver
+    Marc Hanheide
 
 ...and anybody who we, by accident, forgot to mention here!

README.md

@@ -264,9 +264,10 @@ The software in this repository is maintained by:
 - [Timm Linder](http://www.timmlinder.com), Social Robotics Lab, Albert-Ludwigs-Universität Freiburg
 - [Stefan Breuers](http://www.vision.rwth-aachen.de/people/stefan-breuers), Computer Vision Group, RWTH Aachen University
 
-Credits of the different ROS packages go to the particular authors listed in the respective `README.md` and `package.xml` files.
+Credits of the different ROS packages go to the particular authors listed in the respective `README.md` and `package.xml` files. See also the `AUTHORS.md` file for a list of further contributors.
+
+This work has been supported by the European Commission under contract number FP7-ICT-600877 (SPENCER), and has received additional funding from the European Union's Horizon 2020 research and innovation programme under grant agreement No 732737 (ILIAD).
 
-This work has been supported by the EC under contract number FP7-ICT-600877 (SPENCER).
 If you use the software contained in this repository for your research, please cite the following publication:
 
 > On Multi-Modal People Tracking from Mobile Platforms in Very Crowded and Dynamic Environments    

detection/laser_detectors/srl_laser_detectors/CMakeLists.txt

@@ -85,7 +85,10 @@ install(DIRECTORY launch/
   PATTERN ".svn" EXCLUDE
 )
 
-
+install(DIRECTORY models/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/models
+  PATTERN ".svn" EXCLUDE
+)
 
 ### Learned detectors ###
 if(OpenCV_FOUND)

detection/laser_detectors/srl_laser_segmentation/CMakeLists.txt

@@ -89,3 +89,10 @@ add_executable(ahc_segmentation
 )
 add_dependencies(ahc_segmentation ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
 target_link_libraries(ahc_segmentation ${catkin_LIBRARIES})
+
+install(TARGETS jump_distance_segmentation extended_jump_distance_segmentation ahc_segmentation
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+

detection/rgbd_detectors/rwth_upper_body_detector/CMakeLists.txt

@@ -136,7 +136,7 @@ install(DIRECTORY launch/
 )
 
 install(DIRECTORY config/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
   PATTERN ".svn" EXCLUDE
 )
 

detection/spencer_detected_person_association/CMakeLists.txt

@@ -79,4 +79,15 @@ install(DIRECTORY launch/
   PATTERN ".svn" EXCLUDE
 )
 
+install(FILES nodelet_plugins.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
 
+catkin_install_python(PROGRAMS
+  scripts/check_poses_and_covariances.py
+  scripts/composite_detections_to_detections.py
+  scripts/dump_detection_positions.py
+  scripts/track_synchronizer_test.py
+  scripts/visualize_composite_detections.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)

launch/spencer_people_tracking_launch/CMakeLists.txt

@@ -15,7 +15,6 @@ install(DIRECTORY rviz/
   PATTERN ".svn" EXCLUDE
 )
 
-install(DIRECTORY data/
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/data
-  PATTERN ".svn" EXCLUDE
+install(PROGRAMS scripts/download_example_bagfiles.sh
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )

launch/spencer_people_tracking_launch/launch/tracking_on_bagfile.launch

@@ -1,5 +1,5 @@
 <launch>
-    <arg name="bagfile_folder" default="$(find spencer_people_tracking_launch)/data/rgbd_2dlaser_example"/>
+    <arg name="bagfile_folder" default="$(env HOME)/.ros/spencer_tracking_rgbd_2dlaser_example_bagfiles/"/> <!-- download using script in scripts/ folder -->
 
     <arg name="front_laser" default="true"/>
     <arg name="front_rgbd" default="true"/>
@@ -82,4 +82,4 @@
     <!-- Group tracking -->
     <include file="$(find spencer_people_tracking_launch)/launch/tracking/group_tracking.launch"/> 
 
-</launch>
+</launch>

launch/spencer_people_tracking_launch/data/rgbd_2dlaser_example/download_example_bagfiles.sh → launch/spencer_people_tracking_launch/scripts/download_example_bagfiles.sh

@@ -1,20 +1,24 @@
 #!/bin/sh
 
-SCRIPT_DIR=`dirname $0`
+TARGET_DIR=$HOME/.ros/spencer_tracking_rgbd_2dlaser_example_bagfiles/
+mkdir -p $TARGET_DIR
+
 YELLOW='\033[1;33m'
 NOCOLOR='\033[0m'
 
 echo
-echo "${YELLOW}Downloading example bagfiles to $SCRIPT_DIR ...${NOCOLOR}"
+echo "${YELLOW}Downloading example bagfiles to $TARGET_DIR ...${NOCOLOR}"
 echo
 
-cd $SCRIPT_DIR
+cd $TARGET_DIR
 wget -O bagfiles.zip http://srl.informatik.uni-freiburg.de/downloadsdir/spencer_tracking_rgbd_2dlaser_example_bagfiles.zip
 
 echo
 echo "${YELLOW}Extracting bagfiles ...${NOCOLOR}"
 echo
-unzip bagfiles.zip
+
+# Not using unzip here as it may not be installed on all systems
+python -c "import zipfile; zipfile.PyZipFile('bagfiles.zip').extractall()"
 
 echo
 echo "${YELLOW}Cleaning up ...${NOCOLOR}"

tracking/people/srl_nearest_neighbor_tracker/CMakeLists.txt

@@ -76,3 +76,20 @@ target_link_libraries(nnt_node ${catkin_LIBRARIES})
 add_executable(logger_node ${SOURCE_DIR}/ros/nodes/logger_node.cpp)
 add_dependencies(logger_node ${catkin_EXPORTED_TARGETS})
 target_link_libraries(logger_node ${catkin_LIBRARIES})
+
+install(TARGETS nnt_node logger_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+  PATTERN ".svn" EXCLUDE
+)

utils/spencer_people_tracking_full/CMakeLists.txt

@@ -0,0 +1,4 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(spencer_people_tracking_full)
+find_package(catkin REQUIRED)
+catkin_metapackage()

utils/spencer_people_tracking_full/README.md

@@ -0,0 +1,2 @@
+This metapackage aggregates all subpackages of the SPENCER People Tracking Framework, and is mainly useful
+when installing the packaged version of the framework.

utils/spencer_people_tracking_full/package.xml

@@ -0,0 +1,50 @@
+<?xml version="1.0"?>
+<package>
+  <name>spencer_people_tracking_full</name>
+  <version>1.0.5</version>
+
+  <description>
+    A metapackage which depends on all subpackages of the SPENCER People Tracking Framework.
+  </description>
+
+  <maintainer email="linder@cs.uni-freiburg.de">Timm Linder</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <run_depend>pcl_people_detector</run_depend>
+  <run_depend>rwth_ground_hog</run_depend>
+  <run_depend>rwth_ground_plane</run_depend>
+  <run_depend>rwth_perception_people_msgs</run_depend>
+  <run_depend>rwth_upper_body_detector</run_depend>
+  <run_depend>spencer_bagfile_tools</run_depend>
+  <run_depend>spencer_control_msgs</run_depend>
+  <run_depend>spencer_detected_person_association</run_depend>
+  <run_depend>spencer_detected_person_conversion</run_depend>
+  <run_depend>spencer_diagnostics</run_depend>
+  <run_depend>spencer_group_tracking</run_depend>
+  <run_depend>spencer_human_attribute_msgs</run_depend>
+  <run_depend>spencer_leg_detector_wrapper</run_depend>
+  <run_depend>spencer_people_tracking_launch</run_depend>
+  <run_depend>spencer_perception_mocks</run_depend>
+  <run_depend>spencer_social_relation_msgs</run_depend>
+  <run_depend>spencer_social_relations</run_depend>
+  <run_depend>spencer_tracking_metrics</run_depend>
+  <run_depend>spencer_tracking_msgs</run_depend>
+  <run_depend>spencer_tracking_rviz_plugin</run_depend>
+  <run_depend>spencer_tracking_utils</run_depend>
+  <run_depend>spencer_vision_msgs</run_depend>
+  <run_depend>srl_laser_detectors</run_depend>
+  <run_depend>srl_laser_features</run_depend>
+  <run_depend>srl_laser_segmentation</run_depend>
+  <run_depend>srl_nearest_neighbor_tracker</run_depend>
+  <run_depend>srl_tracking_exporter</run_depend>
+  <run_depend>srl_tracking_logfile_import</run_depend>
+  <run_depend>track_annotation_tool</run_depend>
+  <run_depend>video_to_bagfile</run_depend>
+
+  <export>
+    <metapackage />
+  </export> 
+
+</package>