This package contains Python scripts for converting geometry_msgs/PoseArray or people_msgs/PositionMeasurementArray messages into spencer_tracking_msgs/DetectedPersons, and vice versa.
This can be useful to integrate external detectors, which output one of the aforementioned message types, into the SPENCER people tracking and visualization framework.
One such example is the leg detector from wg-perception.
The resulting spencer_tracking_msgs/DetectedPersons can then be processed by the srl_nearest_neighbor_tracker,
spencer_detected_person_association or spencer_tracking_rviz_plugin packages.
Note that a geometry_msgs/PoseArray only contains a subset of the information stored in a spencer_tracking_msgs/DetectedPersons message. Therefore,
the reverse conversion from spencer_tracking_msgs/DetectedPersons to geometry_msgs/PoseArray is lossy.
©2015 Timm Linder, Social Robotics Laboratory, University of Freiburg