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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:

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