Smartpole HPS Human Detector

A ROS2-based human detection system combining RGB camera and LiDAR sensor fusion.

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Requirements

• RGB Camera
• LiDAR
• ROS2 Jazzy

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Installation

1. Clone this repository

git clone <this-repo-url>
cd smartpole_hps_ws

2. Install Nebula

# Outside the workspace
git clone https://github.com/tier4/nebula.git
cd nebula

# Import dependencies
vcs import < build_depends-${ROS_DISTRO}.repos
rosdep install --from-paths . --ignore-src -y

# Build Nebula
colcon build --symlink-install --cmake-args \
  -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_EXPORT_COMPILE_COMMANDS=1

3. Download the livehps.t7 model file

Download livehps.t7 from Google Drive and place it in:

smartpole_hps_ws/src/livehps_ros2/resource/

4. Download the SMPL model

Download the SMPL model from Google Drive and extract it. Place the extracted smpl folder in:

smartpole_hps_ws/src/livehps_ros2/resource/

5. Install usb_cam

sudo apt install ros-jazzy-usb-cam

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Running

Note: Run each of the following steps in a separate terminal.

1. Run Nebula

# Outside the workspace
cd <BASE_DIR>/nebula
source install/setup.bash

# Change PandarQT128 to match your LiDAR model
ros2 launch nebula nebula_launch.py sensor_model:=PandarQT128

2. Run usb_cam

# Adjust pixel_format, image_width, and image_height to match your camera
ros2 run usb_cam usb_cam_node_exe --ros-args \
  -p pixel_format:="uyvy2rgb" \
  -p image_width:=1920 \
  -p image_height:=1280

3. Run lidar_human_tracker

# In the workspace (smartpole_hps_ws)
source install/setup.bash
ros2 launch lidar_human_tracker tracker.launch.py

4. Run livehps_ros2

# In the workspace (smartpole_hps_ws)
source install/setup.bash
ros2 launch livehps_ros2 livehps.launch.py

5. Run lidar_colorizer

# In the workspace (smartpole_hps_ws)
source install/setup.bash

# Adjust all parameters to match your setup
ros2 run lidar_colorizer lidar_colorizer --ros-args \
  -p image_topic:=/image_raw \
  -p lidar_topic:=/pandar_points \
  -p output_topic:=/pandar_points_colored \
  -p extrinsics_file:=<BASE_DIR>/smartpole_hps_ws/example_manual_extrinsics.yaml \
  -p camera_info_file:=<BASE_DIR>/smartpole_hps_ws/example_camera_info.yaml