mediapipe_track's Introduction

mediapipe_track

ROS package that applies MediaPipe Pose solution
Tested Kinect V1 RGB and Depth images
Important addition to MediaPipe Pose: ability to calculate and detect the person's 3D position and publish this information in ROS Topics so the robot can know its relative position from the person detected.
Support for use of person bounding box image

Getting started

Installation

Dependencies
- This package depends on freenect_launch and runs on python, with mediapipe library.

Building

cd catkin_ws/src
git clone https://github.com/UtBotsAtHome-UTFPR/mediapipe_track.git
cd ..
catkin_make

Pip requirements (skip if using Jetson + Ubuntu 18)

roscd mediapipe_track/src
python3 -m pip install -r requirements.txt

Only for Jetson Nano + Ubuntu 18

Install Python 3.9 and virtualenv

sudo add-apt-repository ppa:deadsnakes/ppa # Repository with many Python versions
sudo apt update
sudo apt install python3.9 python3.9-venv -y
python3.9 -m pip install virtualenv
PY_LOCATION=$(which python3.9)
roscd mediapipe_track/src
python3.9 -m virtualenv venv --python=$PY_LOCATION # Create virtual env
source venv/bin/activate # Enter virtual env
python -m pip install -r requirements.txt

You should only use Mediapipe with the virtual Python executable

source venv/bin/activate # Enter virtual env
python body_pose.py   # Instead of "rosrun mediapipe_track body_pose.py"
python body_points.py # Instead of "rosrun mediapipe_track body_points.py"

Running

First, run freenect:

roslaunch mediapipe_track freenect.launch

Then, to run the Mediapipe pose estimation and 3d points positions:
```
roslaunch mediapipe_track body_pose_and_points.launch
```
To run only the Mediapipe pose estimation:
```
rosrun mediapipe_track body_pose.py
```
To view the 3D map with the published 3D point referred as the person detected position, run Rviz with:
```
roslaunch mediapipe_track rviz.launch
```

mediapipe_track's People

Contributors

Stargazers

Watchers

mediapipe_track's Issues

vision_msgs not present in the package

Hi guys. Thanks for your work. I am trying to run the code, but the vision_msgs used (neither Skeleton2d nor Object) are present in the ros vision_msgs package. Are you using a different package for the messages? Is it possible to have a reference to that?

Thanks!

Recommend Projects