From 5af8fb8da455f95aa73cc08afda44bc3ad6d8180 Mon Sep 17 00:00:00 2001
From: Steven Jens Jorgensen <stevenjensj@gmail.com>
Date: Wed, 5 Jul 2017 14:19:16 -0500
Subject: [PATCH] updated readme and added some comments about planned work
---
README.md | 8 ++++++--
.../launch/openpose_skeleton_extract.launch | 2 +-
.../src/skeleton_extract_3d_node.cpp | 15 +++++++++++++++
3 files changed, 22 insertions(+), 3 deletions(-)
diff --git a/README.md b/README.md
index ee82dd6..bd116a9 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,7 @@
-# Using OPENPOSE Wrapper
+# openpose_ros
+My ROS Wrapper for openpose https://github.com/CMU-Perceptual-Computing-Lab/openpose
+(see commit number `a1e0a5f4136e702b5731a268c2993fb75ca4753c`)
+# Installing and Testing the Openpose ROS Wrapper
1. Install openpose and its dependencies then enable the package by running
````
./install_openpose_and_enable_package.sh
@@ -20,7 +23,8 @@ and subscribe to `/openpose_ros/input_image` for the input image and `/openpose_
# Similar packages
-Naturally, `openpose` is quite popular and similar packages for ros can be found on
+Naturally, `openpose` is quite popular and similar packages for ros can be found at
https://github.com/tue-robotics/openpose_ros
+
https://github.com/firephinx/openpose_ros
\ No newline at end of file
diff --git a/skeleton_extract_3d/launch/openpose_skeleton_extract.launch b/skeleton_extract_3d/launch/openpose_skeleton_extract.launch
index 0a3f689..966a1b9 100644
--- a/skeleton_extract_3d/launch/openpose_skeleton_extract.launch
+++ b/skeleton_extract_3d/launch/openpose_skeleton_extract.launch
@@ -1,6 +1,6 @@
<launch>
<!-- Launch openpose service-->
- <node name="openpose_ros_node" pkg="openpose_ros_pkg" type="openpose_ros_node" />
+ <node name="openpose_ros_node" pkg="openpose_ros_pkg" type="openpose_ros_node" output="screen" />
<!-- Launch the skeleton extractor node -->
<node name="skeleton_extract_3d_node" pkg="skeleton_extract_3d" type="skeleton_extract_3d_node" >
<remap from="~point_cloud" to="/multisense/organized_image_points2_color_reverse_order" />
diff --git a/skeleton_extract_3d/src/skeleton_extract_3d_node.cpp b/skeleton_extract_3d/src/skeleton_extract_3d_node.cpp
index abb2bff..b9ed547 100644
--- a/skeleton_extract_3d/src/skeleton_extract_3d_node.cpp
+++ b/skeleton_extract_3d/src/skeleton_extract_3d_node.cpp
@@ -32,6 +32,21 @@ void callback(const sensor_msgs::PointCloud2ConstPtr& cloud_msg, const sensor_ms
if (client.call(srv))
{
ROS_INFO("ROS Service call Successful");
+ // Prepare a new ROS Message for all skeletal detections
+ // Prepare a new point cloud to publish
+
+ // for each detection,
+ // Prepare a new ROS Message for this skeletal detection
+ // Prepare a new color to use
+
+ // for each body part
+ // grab a small area of pixels surrounding the x,y image coordinate
+
+ //for each pixel in that area, check if it is a valid point: (the point exists in the organized point cloud and that its z-depth is less than Z_MAX)
+ // mean-shift valid 3D points and store largest cluster
+
+ //
+
// ROS_INFO("Hello!: %ld", (long int)srv.response.sum);
}
else
--
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