Roboskel-Manipulation / openpose_3D_localization

Set of ROS packages that make use of the OpenPose library for 3D Human Pose Estimation

openpose_3D_localization

Description

A collection of ROS packages that estimates the 3D position of human body joints in a requested reference frame. It is based on OpenPose 2D joint information

Dependencies

This repo depends on:

• OpenPose wrapper (compatible with commit 7635674)
• AR marker tracker
• Camera utilities
• TF constructor

Packages:

• keypoint_3d_matching: A ROS package which matches the OpenPose output (2D pixels) to 3D PointCloud information. The output 3D coordinates are expressed in the camera frame.
• keypoint_3d_matching_msgs: Custom ROS messages used by keypoint_3d_matching.
• frame_transpose: Transforms points to a different reference frame.
• pipeline_launch: Collection of launch files.

Run

• In a terminal run roslaunch pipeline_launch pipeline_launch.launch
• Arguments:
  • sim: Set use_sim_time (True if playing running a rosbag. Make sure you play the rosbag including the --clock flag.)
  • live_camera: True if running a camera
  • marker: True if using marker

System

Tested on:

• Ubuntu 16.04 / 18.04
• ROS Kinetic / Melodic