3D Human Pose Estimation from RGB-D image

A simple 3D human pose estimation using an RGB-D sensor such as Realsense.
Estimated poses are described in the camera coordinate.

Environment

• ROS Noetic / Ubuntu 20.04 / Python 3
• RGB-D sensor (A Realsense sensor is recommended.)

Install

This code uses openpifpaf to estimate 2D human pose, and then estimate the 3D pose by referring the corresponding depth image. It uses openpifpaf_ros as an implementation of openpifpaf for ROS.

cd catkin_ws/src
git clone https://github.com/yasutomo57jp/openpifpaf_ros
git clone https://github.com/yasutomo57jp/rgbd_pose_3d
cd ..
catkin_make

requirements for openpifpaf_ros

pip3 install opencv-python
pip3 install openpifpaf

How to RUN

This example uses a Realsense (D453i).

roslaunch rgbd_pose_3d openpifpaf_realsense.launch