/edpr-vojext

Primary LanguagePythonBSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

EDPR-VOJEXT

Event-driven Human Pose Estimation for Mobile Robots in Industry

Installation

The software was tested on Ubuntu 20.04.2 LTS

  • Install Docker Engine
  • Download the repository and build the Docker image 
    $ cd <workspace>
$ git clone git@github.com:event-driven-robotics/edpr-vojext.git
$ cd edpr-vojext
$ docker build -t edpr-vojext - < Dockerfile

💡 <workspace> is the parent directory in which the repository is cloned

Usage

  • Run the Docker container and, inside it, run the pose detector 
    $ xhost +
    $ docker run -it --privileged --network host -v /tmp/.X11-unix/:/tmp/.X11-unix -v /dev/bus/usb:/dev/bus/usb -e DISPLAY=unix$DISPLAY -e ROS_MASTER_URI=http://172.17.0.1:11311 -e YARPSERVER_IP=172.17.0.1 --name edpr-vojext-demo edpr-vojext

💡 set the ROS_MASTER_URI variable and the YARPSERVER_IP as needed for your set-up

  • At the terminal inside the container run the following command to execute a script that will set up a yarpserver connected to ROS, run the atis-bridge to get the events from the camera and finally run the HPE application with a visualisation window. The application should automatically connect to required input and output YARP modules.

    $ edpr-vojext/start_vojext.sh

  • The application should run using the moveEnet event-driven HPE algorithm

  • While the visualisation window is selected:

    • Press ESC to close
    • Press e to change visualisation

  • The following command line options can be used if running the commands individually edpr-vojext-demo --OPTION VALUE

    • --f_det <INT> HPE detection rate [5]
    • --f_vel <INT> HPE velocity estimation rate [50]
    • --f_vis <INT> visualisation rate [20]
    • --f_img <INT> ROS image output rate [3]
    • --w <INT> --h <INT> to set the dataset sensor resolution [640 480]
    • --pu <FLOAT> --muD <FLOAT> to set the Kalman filter process and measurement uncertainty [10, 1]
    • --vis <BOOL> to see a visualisation of the algorithm

To stop the application itself, the camera and the yarpserver, the following command should be run in a terminal inside the docker:

$ edpr-vojext/stop_vojext.sh