@@ -3,7 +3,7 @@ ROS wrapper for OpenPose ( https://github.com/CMU-Perceptual-Computing-Lab/openp
When a depth image is synchronized with the RGB image (RGB-D image), a 3d extractor node has been implemented to obtain 3d pose estimation from the 2d pose estimation given by OpenPose through the projection of the 2d pose estimation onto the point-cloud of the depth image. Also, a visualization node for the 3d results has been implemented.
@@ -33,11 +33,11 @@ First of all, you might want to change some things in the code to adapt it to yo
* Go to `/openpose_ros_pkg/src/openpose_ros_node_firephinx.cpp`, and change `/usb_cam/image_raw` for the topic your camera is publishing the `sensor_msgs::Image` messages to:
***/openpose_ros/detected_poses_keypoints:** In this topic, the messages with the 2d detections keypoints (openpose bodyjoints) are being published. The messages have the following fields:
* num_people_detected: number of people that are in the image.
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@@ -93,7 +93,7 @@ If everything is running correctly, the package should be publishing in the topi
If you write the data in a csv it should be like this:
This module is composed of the same 2d extractor node described in the previous section, a node for getting 3d pose detection and a node for visualization of the output in RViz. We can see the resulting 3d human skeleton and the resulting 3d detections for the joints or both at the same time with the visualization node. An RGB-D camera is needed to run this module.
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@@ -102,21 +102,21 @@ First of all you might want to change some things in the code to adapt it to you
* Go to `/skeleton_extract_3d/launch/openpose_skeleton_extract.launch`. You will see this:
*Here you should change `/usb_cam_3d/image_raw/` for the topic your camera will be publishing the `sensor_msgs::Image` messages (RGB images). You should also change `/kinect2/qhd/points` for the topic your camera will be publishing the `sensor_msgs::Pointcloud2` messages (depth images).
* Go to `/skeleton_extract_3d/src/skeleton_extract_3d_node.cpp` and set the input resolution of the images (the resolution of the depth and the RGB images must be the same):
* Go to `/skeleton_extract_3d/src/skeleton_extract_3d_visualization_node.cpp`. You might want to change the color, shape, size etc. of the markers. To see the options you have go to http://wiki.ros.org/rviz/DisplayTypes/Marker. To set the options of the bodyjoints:
Once you have set the options repeat step 3 of the installation process. Now that you have configured it, you can run the code. First of all connect your RGB-D and run the corresponding ROS drivers.
***/openpose_ros/skeleton_3d/input_pointcloud:** Here is published the point-cloud that is synchronized with the RGB image from where we extract the x,y, z real world coordinates of the keypoints.
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@@ -195,15 +195,15 @@ You can also select the pointcloud at the same time:
***/openpose_ros/skeleton_3d/input_rgb:** the RGB image that we use to make the 2d detections is published in this topic and it is synchronized with the input point-cloud.
