Comments (7)
Dear Rajivo,
Thank you for your information.
I edited Person.msg
, rosOpenposeAsync.cpp
and rosOpenposeSync.cpp
files, and run with
text = [facePart.pixel for person in msg.persons for facePart in person.faceParts]
in run.lauch
.
Now I can output coordinates of face keypoints as shown below-
[INFO] [1667808734.583089]: [x: 309.166168213
y: 184.518478394, x: 311.559112549
y: 203.063949585, x: 315.14855957
y: 218.019973755, x: 320.532745361
y: 233.574249268, x: 328.309875488
y: 246.735549927, x: 338.479980469
y: 260.49508667, x: 349.846557617
y: 270.66519165, x: 364.204315186
y: 279.638793945, x: 379.758575439
y: 280.237030029, x: 393.518127441
y: 275.45111084, x: 403.688232422
y: 265.879241943, x: 412.063598633
y: 255.110916138, x: 419.84072876
y: 241.949615479, x: 424.028411865
y: 228.788314819, x: 427.019622803
y: 215.62701416, x: 428.216094971
y: 200.67098999, x: 427.019622803
y: 186.313201904, x: 331.301086426
y: 164.776535034, x: 340.872924805
y: 158.794128418, x: 353.435974121
y: 155.80291748, x: 364.204315186
y: 159.392364502, x: 374.97265625
y: 164.17829895, x: 388.732208252
y: 164.17829895, x: 397.705810547
y: 158.794128418, x: 407.277679443
y: 155.80291748, x: 416.849517822
y: 157.597640991, x: 421.635467529
y: 165.374771118, x: 382.749786377
y: 179.13432312, x: 382.749786377
y: 186.911453247, x: 382.749786377
y: 194.09034729, x: 383.348022461
y: 203.063949585, x: 371.981445312
y: 217.421737671, x: 377.365631104
y: 218.019973755, x: 382.749786377
y: 218.618225098, x: 387.535736084
y: 218.019973755, x: 392.321655273
y: 217.421737671, x: 344.462371826
y: 180.330795288, x: 350.444793701
y: 179.732559204, x: 358.820159912
y: 179.732559204, x: 364.204315186
y: 183.92024231, x: 358.820159912
y: 183.92024231, x: 349.846557617
y: 183.92024231, x: 396.509338379
y: 183.322006226, x: 402.491760254
y: 179.732559204, x: 408.474151611
y: 179.732559204, x: 415.05480957
y: 180.929046631, x: 409.072387695
y: 183.92024231, x: 402.491760254
y: 183.92024231, x: 363.606079102
y: 241.351379395, x: 369.588500977
y: 232.975997925, x: 377.963867188
y: 228.190078735, x: 382.749786377
y: 230.58303833, x: 388.133972168
y: 228.190078735, x: 394.116363525
y: 232.975997925, x: 398.304046631
y: 241.351379395, x: 393.518127441
y: 246.735549927, x: 388.133972168
y: 250.324981689, x: 382.749786377
y: 250.324981689, x: 377.963867188
y: 250.324981689, x: 368.990264893
y: 246.735549927, x: 368.391998291
y: 241.351379395, x: 377.963867188
y: 237.761932373, x: 382.749786377
y: 237.761932373, x: 387.535736084
y: 237.761932373, x: 395.911102295
y: 240.753128052, x: 387.535736084
y: 237.761932373, x: 382.749786377
y: 238.958404541, x: 377.963867188
y: 238.360168457, x: 354.034240723
y: 180.929046631, x: 405.482940674
y: 180.330795288]
The accuracy of the numerical value has not been confirmed yet, but I think the mapping of face key points in the topic will just like be official format.
Thank you very much! :-)
from ros_openpose.
Thanks @RiRyuichi
It is perfect 👍
The pull request is merged. afecab6
Thanks again for the great contribution.
from ros_openpose.
@RiRyuuichi
I am glad to see your message. Thank you.
Yes, you are right. You need to edit the following line:
Line 14 in c6f5ce7
However, first, you should check the /frame
topic to confirm that face key points are there. I have not used it with face key points, but some users did in the past.
Next, you should figure out the mapping of face key points in the topic. For example, please see the below mapping for complete body tracking:
ros_openpose/scripts/visualizer.py
Lines 43 to 60 in c6f5ce7
Finally, you can use conditional statement to print only face key points based on the index.
Let me know how it goes!
Cheers.
from ros_openpose.
Dear Rajivo,
Thank you for the prompt reply.
I checked the /frame
topic and it repeatedly showed :
header:
seq: 69
stamp:
secs: 1667797310
nsecs: 784934479
frame_id: "camera_color_optical_frame"
persons:
-
bodyParts:
-
score: 0.79394453764
pixel:
x: 444.27545166
y: 210.642166138
point:
x: 0.121169157326
y: -0.0344984829426
z: 0.658000051975
-
score: 0.56282800436
pixel:
x: 403.805603027
y: 326.811676025
point:
x: 0.0890130102634
y: 0.102006264031
z: 0.75100004673
-
score: 0.327622026205
pixel:
x: 262.836120605
y: 341.170684814
point:
x: -0.0823214277625
y: 0.119004175067
z: 0.748000025749
-
score: 0.0
pixel:
x: 0.0
y: 0.0
point:
x: -1.91599595547
y: -1.40698289871
z: 3.57300019264
-
score: 0.0
pixel:
x: 0.0
y: 0.0
point:
x: -1.91599595547
y: -1.40698289871
z: 3.57300019264
-
score: 0.444403111935
pixel:
x: 540.85559082
y: 308.534851074
point:
x: 0.282483309507
y: 0.0880472958088
z: 0.82900005579
-
score: 0.237627774477
pixel:
x: 590.471923828
y: 454.699707031
point:
x: 0.312954962254
y: 0.254904001951
z: 0.743000030518
-
score: 0.0
pixel:
x: 0.0
y: 0.0
point:
x: -1.91599595547
y: -1.40698289871
z: 3.57300019264
-
score: 0.0
pixel:
x: 0.0
y: 0.0
point:
x: -1.91599595547
y: -1.40698289871
z: 3.57300019264
-
score: 0.0
pixel:
x: 0.0
y: 0.0
point:
x: -1.91599595547
y: -1.40698289871
z: 3.57300019264
-
score: 0.0
pixel:
x: 0.0
y: 0.0
point:
x: -1.91599595547
y: -1.40698289871
z: 3.57300019264
-
score: 0.0
pixel:
x: 0.0
y: 0.0
point:
x: -1.91599595547
y: -1.40698289871
z: 3.57300019264
-
score: 0.0
pixel:
x: 0.0
y: 0.0
point:
x: -1.91599595547
y: -1.40698289871
z: 3.57300019264
-
score: 0.0
pixel:
x: 0.0
y: 0.0
point:
x: -1.91599595547
y: -1.40698289871
z: 3.57300019264
-
score: 0.0
pixel:
x: 0.0
y: 0.0
point:
x: -1.91599595547
y: -1.40698289871
z: 3.57300019264
-
score: 0.848506808281
pixel:
x: 412.987182617
y: 180.612442017
point:
x: 0.159630015492
y: -0.0722588449717
z: 0.686000049114
-
score: 0.839394986629
pixel:
x: 474.21484375
y: 175.371795654
point:
x: 0.159628242254
y: -0.0751760751009
z: 0.686000049114
-
score: 0.814783334732
pixel:
x: 350.308013916
y: 187.127853394
point:
x: 0.0234853327274
y: -0.0669053867459
z: 0.739000022411
-
score: 0.484164863825
pixel:
x: 497.76574707
y: 183.194992065
point:
x: 0.185554116964
y: -0.0663822293282
z: 0.685000061989
-
score: 0.0
pixel:
x: 0.0
y: 0.0
point:
x: -1.91599595547
y: -1.40698289871
z: 3.57300019264
-
score: 0.0
pixel:
x: 0.0
y: 0.0
point:
x: -1.91599595547
y: -1.40698289871
z: 3.57300019264
-
score: 0.0
pixel:
x: 0.0
y: 0.0
point:
x: -1.91599595547
y: -1.40698289871
z: 3.57300019264
-
score: 0.0
pixel:
x: 0.0
y: 0.0
point:
x: -1.91599595547
y: -1.40698289871
z: 3.57300019264
-
score: 0.0
pixel:
x: 0.0
y: 0.0
point:
x: -1.91599595547
y: -1.40698289871
z: 3.57300019264
-
score: 0.0
pixel:
x: 0.0
y: 0.0
point:
x: -1.91599595547
y: -1.40698289871
z: 3.57300019264
leftHandParts: []
rightHandParts: []
---
It looks like only showed bodyParts key points, and support for leftHandParts and rightHandParts. But not support for face key points...
Also I checked visualizer.py
file, there are some contents about bodyParts, leftHandParts and rightHandParts, but nothing about face parts.
Should I add something in visualizer.py
file?
from ros_openpose.
@RiRyuuichi
Thank you very much. As I said, I never used --face
flag. Therefore, it could be possible that it is not implemented. But some users have used it previously for face as well.
Please see Person definition, i.e., Person.msg below:
Lines 1 to 5 in c6f5ce7
You should add one more attribute say BodyPart[] faceParts
and then fill this field. You can easily take help from the existing code. Please see how leftHandParts
and rightHandParts
are filled.
Let me know your progress.
from ros_openpose.
@RiRyuuichi
I am glad to see your speedy progress. Well done!!!
May I request you create a pull request to share your code? In this way, we can merge it with this repository. This helpful information can be made available to others.
Cheers!
from ros_openpose.
Dear Rajivo,
I tried to create a pull request to share codes. I'm sorry that I'm a github beginner...
Is this alright?
from ros_openpose.
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from ros_openpose.