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ravijo avatar ravijo commented on August 20, 2024

@epruc

Is this correct?

Yes. It is correct for the BODY_25 model used in Openpose. The output is utilized for visualization, and these IDs are assigned as shown below:

ros_openpose/scripts/visualizer.py

Lines 46 to 69 in 21e6c3e

const std::map<unsigned int, std::string> POSE_BODY_25_BODY_PARTS {
{ 0, "Nose"}, {13, "LKnee"}
{ 1, "Neck"}, {14, "LAnkle"}
{ 2, "RShoulder"}, {15, "REye"}
{ 3, "RElbow"}, {16, "LEye"}
{ 4, "RWrist"}, {17, "REar"}
{ 5, "LShoulder"}, {18, "LEar"}
{ 6, "LElbow"}, {19, "LBigToe"}
{ 7, "LWrist"}, {20, "LSmallToe"}
{ 8, "MidHip"}, {21, "LHeel"}
{ 9, "RHip"}, {22, "RBigToe"}
{10, "RKnee"}, {23, "RSmallToe"}
{11, "RAnkle"}, {24, "RHeel"}
{12, "LHip"}, {25, "Background"}
hand output ordering
src: https://github.com/CMU-Perceptual-Computing-Lab/openpose/raw/master/doc/media/keypoints_hand.png
We are using 5 LINE_STRIP to draw a hand
'''
self.upper_body_ids = [0, 1, 8]
self.hands_ids = [4, 3, 2, 1, 5, 6, 7]
self.legs_ids = [22, 11, 10, 9, 8, 12, 13, 14, 19]

Hope it helps!

from ros_openpose.

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