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MarkChangKM / openpose_ros

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openpose_ros

Example ROS catkin package that utilizes the OpenPose library from https://github.com/CMU-Perceptual-Computing-Lab/openpose.

System

Tested on:

Installation Steps

  1. install Openpose. see: https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/doc/installation.md or see: https://medium.com/@erica.z.zheng/installing-openpose-on-ubuntu-18-04-cuda-10-ebb371cf3442

  2. Clone this repository into your catkin_workspace/src directory.

    git clone https://github.com/MarkChangKM/openpose_ros.git

  3. Modify the model_folder line in openpose_ros/src/openpose_flags.cpp to where openpose is installed (line 18).

    DEFINE_string(model_folder,             "/path/to/openpose/models/",      "Folder path (absolute or relative) where the models (pose, face, ...) are located.");

  4. Modify the image_topic parameter in openpose_ros/launch/openpose_ros.launch to the image_topic you want to process.

    <param name="image_topic"     value="/camera/color/image_raw" />
<param name="depth_topic"     value="/camera/aligned_depth_to_color/image_raw" />

  5. Modify the other parameters in openpose_ros/src/openpose_flags.cpp and openpose_ros/launch/openpose_ros.launch to your liking such as enabling face and hands detection.

  6. Run catkin_make from your catkin_workspace directory.

Running

  1. setup enviroment 
    source catkin_workspace/devel/setup.bash
  2. run with rosbag or realsence 3d: 
    roslaunch openpose_ros openpose_ros_3d.launch

    realsence:

    roslaunch openpose_ros openpose_ros_with_rs.launch

TODO

  1. filter depth image(filling nan point)
  2. filter blocked point(estimate keypoint that has been blocked by other body part)