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strands-project / strands_perception_people

long-term detection, tracking and recognition of people
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Change number of frames for visual confirmation #207

Closed lcluz closed 8 years ago

lcluz commented 8 years ago

Hi. I'm trying to put to work the tracker with external cameras, a onboard Asus and a laser. With the Asus I'm using my own rgb detector and then using depth to map to base_link, and publishing has a PoseArray. I've been tuning the parameters (velocity and measurement noises) and tried different fps for the tracker, and could never have a new tracker instance. I'm thinking that maybe the number of frames for visual confirmation might be very high, and with my low fps detection it might take a long time time to get a new track. Could you tell me how many frames do you consider and how to change it? Thanks

cdondrup commented 8 years ago

Hi, by default it needs 5 detections in 0.2 seconds which is defined here. This multitracker is used here. You could try increasing the time or lowering the number of detections.

There was a pull request by @scosar where he tried to expose this a little better. But it didn't build anymore so we had to revert it. I'll ping him again. For now you can try to either change the default values in the bayestracking library or insatiate the MultiTracker with different parameters.

lcluz commented 8 years ago

I changed the default values and it worked. Thank you very much

cdondrup commented 8 years ago

No problem. I'll close this issue then. If you run into any other problems, just open a new one ;)