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https://github.com/lopsided98/nix-ros-overlay.git
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32 lines
1.6 KiB
Nix
32 lines
1.6 KiB
Nix
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# Copyright 2019 Open Source Robotics Foundation
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# Distributed under the terms of the BSD license
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{ lib, buildRosPackage, fetchurl, tf, catkin, hector-marker-drawing, hector-nav-msgs, image-geometry, hector-worldmodel-msgs, roscpp }:
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buildRosPackage {
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pname = "ros-kinetic-hector-object-tracker";
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version = "0.3.4";
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src = fetchurl {
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url = https://github.com/tu-darmstadt-ros-pkg-gbp/hector_worldmodel-release/archive/release/kinetic/hector_object_tracker/0.3.4-0.tar.gz;
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sha256 = "ecd9277505a8ac1f834315da62eaef06597ea2762bfd4593db597517f442c793";
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};
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buildInputs = [ hector-worldmodel-msgs tf roscpp hector-marker-drawing hector-nav-msgs image-geometry ];
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propagatedBuildInputs = [ hector-worldmodel-msgs tf roscpp hector-marker-drawing hector-nav-msgs image-geometry ];
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nativeBuildInputs = [ catkin ];
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meta = {
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description = ''hector_object_tracker is the core package of hector_worldmodel. It listens to percept message from
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detectors (e.g. heat signatures of persons or recognitions of other objects of interest in the
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scene) and fuses all information to a single worldmodel state. Objects will be tracked over time
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and their states can be influenced by a couple of services.
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The percept to object association problem is solved either automatically based on the Mahalanobis
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distance, or a unique object_id can be given in the percept message.
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If a hector_nav_msgs/GetDistanceToObstacle service is available, the object_tracker can optionally
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deduce the depth of objects in the scene by projection to the nearest obstacle (wall).'';
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#license = lib.licenses.BSD;
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};
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}
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