Dynamic tracking of human to compute the lateral_deviation and Depth with pose detection Mediapipe and depth estimation OpenCV in the FOV of monocular camera.
Marking is made with the help of coordiantes detected by Mediapipe. The intersection of point made by the line drawn from right_shoulder(12), left_hip(23) and left_shoulder(11) and righ_hip(24)
Using the focal length formula,
shoulder_width(original) = physical measurement
computed_shoulder_width = Distance computed from the coordinates 11 & 12
clone the repository and move to the human follow directory
$ cd Distance-Computer
Build all the dependencies and source it
$ catkin_make
$ source ./devel/setup.bash
Launch the file
$ roslaunch vel_cal compute-distance.launch
distance.computer.mp4
- Offset of 10 - 20 cm in depth and 0.5 - 1.5 cm in lateral deviation.
- False calculation when shoulder of the person is not aligned parallel to the camera.