hpe_ros_package

ROS package for human pose estimation with Microsoft SimpleBaselines algorithm.

System visualization

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Start camera

Realsense [use realsense docker]:

roslaunch realsense2_camera rs_rgbd.launch 

Luxonis [use depthai docker]

roslaunch depthai_ros_driver camera.launch 

Note: set rs_compat:=true before launching for luxonis.

Launch trt human pose estimation

If you want to launch human pose estimation run:

roslaunch hpe_ros_package hpe_trt_inference.launch 

If you want to launch hand pose estimation:

roslaunch hpe_ros_package hand_trt_inference.launch 

Launch human pose and hand estimation

If you want to launch human pose estimation and hand pose estimation simultaneously run:

roslaunch hpe_ros_package hh_trt_inference.launch

TODO:

• Publish HPE predictions in the image space
• Fix indexing of the HPE predictions in the image space
• Lift predictions to the 3D space using camera depth
• Add init remapping
• Add message syncronizer for the depth and estimate
• Add more complex remapping for different systems
• Check measuremet precision
• Filter measurements with Kalman and check which indexing is used
• Publish Hand predictions in the image space