Upper body skeleton estimator

This package estimates the 3d positions of the 9 upper body skeleton joints.

Launching

Use the following launchfile for launching:

roslaunch rwth_upper_body_skeleton_random_walk fixed.launch

The skeleton detector requires the output of the upper body detector as a starting point for rough person segmentation from background and will not work if upper bodies are not detected.

Run

Dependencies

This node needs upper_body_detector/upper_body_detector.launch to run, which in turn needs ground_plane_estimation/ground_plane_fixed.launch.

Parameters

• depth_image_msg *default = /head_xtion/depth/image_rect_meters: Depth Image Frame.
• upper_body_msg *default = /upper_body_detector/detections: The deteced upper bodies
• rgb_image_msg *default = /head_xtion/rgb/image_rect_color: RGB Image Frame.

roslaunch

roslaunch rwth_upper_body_skeleton_random_walk fixed.launch  [parameter_name:=value]

Original page: https://github.com/strands-project/strands_perception_people/blob/indigo-devel/rwth_upper_body_skeleton_random_walk/README.md