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publish HumanSkeletonArray in human_pose_estimator #130

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merged 4 commits into from
Jul 10, 2024
Merged

publish HumanSkeletonArray in human_pose_estimator #130

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d81a731
publish Skel
mqcmd196 Apr 17, 2023
b25f810
fix lint
mqcmd196 Apr 17, 2023
583c89e
rename skel to skeletons, add human_ids field
mqcmd196 Apr 18, 2023
c5cc935
Merge branch 'master' into PR/publish_skel
knorth55 Dec 15, 2023
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22 changes: 20 additions & 2 deletions python/coral_usb/human_pose_estimator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,11 +27,15 @@
from geometry_msgs.msg import Point
from geometry_msgs.msg import Pose
from jsk_recognition_msgs.msg import ClassificationResult
from jsk_recognition_msgs.msg import HumanSkeleton
from jsk_recognition_msgs.msg import HumanSkeletonArray
from jsk_recognition_msgs.msg import PeoplePose
from jsk_recognition_msgs.msg import PeoplePoseArray
from jsk_recognition_msgs.msg import Rect
from jsk_recognition_msgs.msg import RectArray
from jsk_recognition_msgs.msg import Segment
from sensor_msgs.msg import CompressedImage
from std_msgs.msg import Int32


class EdgeTPUHumanPoseEstimator(EdgeTPUNodeBase):
Expand Down Expand Up @@ -59,6 +63,8 @@ def __init__(self, model_file=None, namespace='~'):
self.label_names = ['human']

# publishers
self.pub_skel = self.advertise(
namespace + 'output/skeletons', HumanSkeletonArray, queue_size=1)
self.pub_pose = self.advertise(
namespace + 'output/poses', PeoplePoseArray, queue_size=1)
self.pub_rects = self.advertise(
Expand Down Expand Up @@ -163,25 +169,35 @@ def image_cb(self, msg):
points, key_names, visibles, bboxes, labels, scores \
= self._estimate(img)

skels_msg = HumanSkeletonArray(header=msg.header)
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poses_msg = PeoplePoseArray(header=msg.header)
rects_msg = RectArray(header=msg.header)
for point, key_name, visible, bbox, label, score in zip(
points, key_names, visibles, bboxes, labels, scores):
pose_msg = PeoplePose()
skel_msg = HumanSkeleton(header=msg.header)
for pt, key_nm, vs, sc in zip(point, key_name, visible, score):
if vs:
key_y, key_x = pt
pose_msg.limb_names.append(key_nm)
pose_msg.scores.append(sc)
pose_msg.poses.append(
Pose(position=Point(x=key_x, y=key_y)))
for i in range(len(pose_msg.poses)):
bone_name = "{}->{}".format(pose_msg.limb_names[i - 1],
pose_msg.limb_names[i])
skel_msg.bone_names.append(bone_name)
seg = Segment()
seg.start_point = pose_msg.poses[i - 1].position
seg.end_point = pose_msg.poses[i].position
skel_msg.bones.append(seg)
skels_msg.skeletons.append(skel_msg)
poses_msg.poses.append(pose_msg)
y_min, x_min, y_max, x_max = bbox
rect = Rect(
x=x_min, y=y_min,
width=x_max - x_min, height=y_max - y_min)
rects_msg.rects.append(rect)

cls_msg = ClassificationResult(
header=msg.header,
classifier=self.classifier_name,
Expand All @@ -190,7 +206,9 @@ def image_cb(self, msg):
label_names=[self.label_names[lbl] for lbl in labels],
label_proba=[np.average(score) for score in scores]
)

for i in range(len(skels_msg.skeletons)):
skels_msg.human_ids.append(Int32(data=i))
self.pub_skel.publish(skels_msg)
self.pub_pose.publish(poses_msg)
self.pub_rects.publish(rects_msg)
self.pub_class.publish(cls_msg)
Expand Down