pose_estimation

Pose estimation using the trt_pose library.

Setup

cd ~/athelas_ws/src
git clone https://github.com/athelas-NEU/pose_estimation.git
cd ..
catkin_make

get_keypoint Service

The get_keypoint ROS service returns the offset from the center of the frame of the keypoint requested.

The service interface is defined as:

string location
---
int32 x
int32 y

The magnitude of the offset is defined in pixel coordinates. The sign of the offet is:

• positive x: go right
• negative x: go left
• negative y: go down
• positive y: go up

To start the service run:

cd ~/catkin_ws
rosrun pose_estimation get_keypoint_service.py