people_pose_estimation_2d.py

What is this?

../../_images/people_pose_estimation_2d.png ../../_images/hand_pose_estimation_2d.png

Estimate people pose and hand pose in 2d. Please refer to original paper.

In order to use this feature, you need to install chainer. To install chainer with GPU support, please refer to this page.

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.

  • ~skeleton (jsk_recognition_msgs/HumanSkeletonArray)

    If with_depth is true, publish 3D human skeletons.

    Rviz visualization is available in jsk-ros-pkg/jsk_visualization #740.

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.

  • ~hand/enable (Bool, Default: False)

    If True, estimate hand pose.

  • ~hand/gaussian_ksize (Int, Default: 17)

    Size of gaussian kernel.

  • ~hand/gaussian_sigma (Float, Default: 2.5)

    Value of gaussian sigma.

  • ~hand/thre1 (Float, Default: 20)

    Threshold of width of hand area.

  • ~hand/thre2 (Float, Default: 0.1)

    Threshold of hand score.

  • ~hand/width_offset (Int, Default: 0)

    Offset of hand area’s width.

  • ~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