people_pose_estimation_2d.py

What is this?

../../../../_images/people_pose_estimation_2d1.png

Estimate people pose in 2d. Please refer to https://arxiv.org/abs/1611.08050

Subscribing Topic

  • ~input (sensor_msgs/Image)

    Input image.

  • ~input/depth (sensor_msgs/Image)

    Input depth image.

  • ~input/info (sensor_msgs/CameraInfo)

    Input camera info.

Publishing Topic

  • ~output (sensor_msgs/Image)

    Detected people pose image.

  • ~pose (jsk_recognition_msgs/PeoplePoseArray)

    If with_depth is true, publish 3D joint position.

    If with_depth is false, publish 2D joint position in image.

  • ~pose2d (jsk_recognition_msgs/PeoplePoseArray)

    If with_depth is true, publish 2D joint position.

Parameters

  • ~gpu (Int, Default: -1)

    GPU id. -1 represents CPU mode.

  • ~scales (Float, Default: 0.38)

    Resize image scale.

  • ~stride (Int, Default: 8)

    Stride of image.

  • ~pad_value (Int, Default: 128)

    Value of padding area.

  • ~thre1 (Float, Default: 0.1)

    Threshold of heatmap value.

  • ~thre2 (Float, Default: 0.05)

    Threshold of score.

  • ~visualize (Bool, Default: True)

    If ~visualize is true, draw an estimated pose.

  • ~model_file (String, Required)

    Trained model file.

  • ~with_depth (Bool, Default: False)

    If true, subscribe ~input/depth and ~input/info.

  • ~sync_camera_info (Bool, Default: False)

    Synchronize ~input/info if enabled, otherwise the last received camera info message is used.

  • ~approximate_sync (Bool, Default: True)

    Use approximate synchronization policy.

  • ~queue_size (Int, Default: 10)

    Queue size for synchronization.

  • ~slop (Float, Default: 0.1)

    Slop for approximate sync.

Example

roslaunch jsk_perception sample_people_pose_estimation_2d.launch GPU:=0