openpose_ros

Example ros catkin package that utilizes the openpose library from https://github.com/CMU-Perceptual-Computing-Lab/openpose.

System

Tested on:

Install openpose (not in catkin_workspace).

git clone https://github.com/CMU-Perceptual-Computing-Lab/openpose.git

Clone the glog_catkin repository into your catkin_workspace/src directory.
```
git clone https://github.com/ethz-asl/glog_catkin.git
```
Clone the gflags repository into your catkin_workspace/src directory.
```
git clone https://github.com/davetcoleman/gflags.git
```
Clone the catkin_simple repository into your catkin_workspace/src directory.
```
git clone https://github.com/catkin/catkin_simple.git
```
Clone this repository into your catkin_workspace/src directory.
```
git clone https://github.com/firephinx/openpose_ros.git
```
Modify the following lines in the CMakeLists.txt to the proper directories of where you installed caffe and openpose:
```
set(CAFFE_DIR /path/to/caffe)
set(OPENPOSE_DIR /path/to/openpose)
```

Modify the model_folder line in src/openpose_ros_node.cpp and src/openpose_ros_node_with_face_and_hands.cpp to where openpose is installed.

DEFINE_string(model_folder,             "/path/to/openpose/models/",      "Folder where the pose models (COCO and MPI) are located.");

Modify the image_topic line in src/openpose_ros_node.cpp and src/openpose_ros_node_with_face_and_hands.cpp to the image_topic you want to process.
```
DEFINE_string(camera_topic,             "/camera/image_raw",      "Image topic that OpenPose will process.");
```
Modify the other parameters in src/openpose_ros_node.cpp and src/openpose_ros_node_with_face_and_hands.cpp to your liking such as the net_resolution and resolution of the image.
Run catkin_make from your catkin_workspace directory. (It will fail the first time so run it twice.)

If cv_bridge is causing you errors and/or you decide to use OpenCV 3.2, copy the cv_bridge folder from https://github.com/ros-perception/vision_opencv into your catkin_workspace/src directory.
If you have problems with CUDA during catkin_make, uncomment this line # find_package(CUDA REQUIRED)

source catkin_workspace/devel/setup.bash
rosrun openpose_ros openpose_ros_node or rosrun openpose_ros openpose_ros_node_with_face_and_hands