ROS index logo ROS Index
  1. Home
  2. Packages
  3. image_recognition_openpose
 
No version for distro humble showing kinetic. Known supported distros are highlighted in the buttons above.
Package symbol

image_recognition_openpose package from image_recognition repo

image_recognition image_recognition_age_gender image_recognition_analysis image_recognition_color_extractor image_recognition_face_recognition image_recognition_footwear image_recognition_jetson image_recognition_msgs image_recognition_openface image_recognition_openpose image_recognition_pose_estimation image_recognition_rqt image_recognition_segment_anything image_recognition_skybiometry image_recognition_tensorflow image_recognition_tensorflow_rqt image_recognition_util

ROS Distro
kinetic

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.5
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/tue-robotics/image_recognition.git
VCS Type git
VCS Version master
Last Updated 2025-06-24
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS Wrapper for the openpose software package. Exposes a service and topic interface.

Additional Links

No additional links.

Maintainers

  • Rein Appeldoorn

Authors

No additional authors.
image_recognition_openpose/README.md

Openpose image recognition

ROS Wrapper for openpose https://github.com/CMU-Perceptual-Computing-Lab/openpose

Installation notes

This ROS wrapper makes use of the Openpose python interface. Please follow the installation manual and ensure that the BUILD_PYTHON flag is turned on while running CMake. Also make sure that you install a release instead of the latest master version with CUDA8 since Torch (image_recognition_openface) cannot handle CUDA10.

export OPENPOSE_INSTALL_PATH=~/openpose && \
mkdir -p $OPENPOSE_INSTALL_PATH && \
wget https://github.com/CMU-Perceptual-Computing-Lab/openpose/archive/v1.4.0.tar.gz -O /tmp/v1.4.0.tar.gz && \
tar -xvf /tmp/v1.4.0.tar.gz -C /tmp/ && cp -r /tmp/openpose-1.4.0/* $OPENPOSE_INSTALL_PATH  && \
$OPENPOSE_INSTALL_PATH/ubuntu/install_cuda.sh && \
$OPENPOSE_INSTALL_PATH/ubuntu/install_cudnn.sh && \
wget https://github.com/CMU-Perceptual-Computing-Lab/caffe/archive/1.0.tar.gz -O /tmp/1.0.tar.gz && \
tar -xvf /tmp/1.0.tar.gz -C /tmp/ && cp -r /tmp/caffe-1.0/* $OPENPOSE_INSTALL_PATH/3rdparty/caffe && \
cd $OPENPOSE_INSTALL_PATH && mkdir -p build && cd build && \
cmake .. -DBUILD_PYTHON=1 -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda && \
make -j`nproc` && \
sudo make install

Scripts

detect_poses

Example for the following picture:

Example

rosrun image_recognition_openpose detect_poses image `rospack find image_recognition_openpose`/doc/example.jpg

Output:

Example result

It also works with a webcam stream, usage:

usage: detect_poses [-h] [--pose_model POSE_MODEL]
                    [--net_input_size NET_INPUT_SIZE]
                    [--net_output_size NET_OUTPUT_SIZE]
                    [--num_scales NUM_SCALES] [--scale_gap SCALE_GAP]
                    [--num_gpu_start NUM_GPU_START]
                    [--overlay_alpha OVERLAY_ALPHA]
                    [--python_path PYTHON_PATH]
                    model_folder {image,cam} ...

Detect poses in an image

positional arguments:
  model_folder          Path where the models are stored
  {image,cam}           Mode
    image               Use image mode
    cam                 Use cam mode

optional arguments:
  -h, --help            show this help message and exit
  --pose_model POSE_MODEL
                        What pose model to use (default: BODY_25)
  --net_input_size NET_INPUT_SIZE
                        Net input size (default: -1x368)
  --net_output_size NET_OUTPUT_SIZE
                        Net output size (default: -1x-1)
  --num_scales NUM_SCALES
                        Num scales (default: 1)
  --scale_gap SCALE_GAP
                        Scale gap (default: 0.3)
  --num_gpu_start NUM_GPU_START
                        What GPU support (default: 0)
  --overlay_alpha OVERLAY_ALPHA
                        Overlay alpha for the output image (default: 0.6)
  --python_path PYTHON_PATH
                        Python path where Openpose is stored (default:
                        /usr/local/python/)

openpose_node

How-to

Run the image_recognition_openpose node in one terminal, e.g.:

rosrun image_recognition_openpose openpose_node

Next step is starting the image_recognition_Rqt test gui (https://github.com/tue-robotics/image_recognition_rqt)

rosrun image_recognition_rqt test_gui

Configure the service you want to call with the gear-wheel in the top-right corner of the screen. If everything is set-up, draw a rectangle in the image and ask the service for detections:

Test

You will see that the result of the detection will prompt in a dialog combo box. Also the detections will be drawn on the image. The ROS node also published the result image, you can easily view this image using rqt_image_view.

CHANGELOG

Changelog for package image_recognition_openpose

0.0.5 (2019-06-08)

  • Working openpose python wrapper
  • refactor package xml to 2.0
  • rename ROS pkgs with image_recognition_prefix
  • Contributors: Arpit Aggarwal, Loy van Beek, Rein Appeldoorn

Package Dependencies

Deps Name
catkin
cv_bridge
diagnostic_updater
image_recognition_msgs
image_recognition_util
rospy
sensor_msgs
python-sphinx-autoapi-pip
python-sphinx-rtd-theme-pip
catkin_lint_cmake

System Dependencies

Name
python3-setuptools
python3-opencv
python3-sphinx
python3-yaml

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged image_recognition_openpose at Robotics Stack Exchange