jack-sherman01/gesture-recognition-with-openpose

This repository aims to recognize gestures made by users. Recognized gestures can lead the robot to take certain actions and/or repeat user's movement.

Gesture Detector with Openpose Software on ROS Kinetic

This repository aims to recognize gestures made by users. Recognized gestures can lead the robot to take certain actions and/or repeat user's movement.

Table of Contents

• Compatible Platforms
• Hardware Requirements
• Software Prerequisities
• Installation
• License

Compatible Platforms

This repository is written in standards-conforming Python. It is developed and tested on the following platforms:

1. Ubuntu 16.04
2. ROS Kinetic
3. Openpose Software
4. CUDA 8.0
5. OpenCV 3.2
6. Librealsense SDK 2.10.0+

Hardware Requirements

Project uses following hardware:

1. Intel Core-i7 6700HQ
2. Nvidia Mobile Gtx 960
3. RealSense SR300 (Firmware 3.10.10.0 and up)
4. USB 3.0 Type-A port for camera connection

Software Prequisities

As the ROS will be main environment it needs to be installed first. You may switch between camera and openpose installation. However completing step 3 before 4 is vital to prevent kernel errors.

1. Install ROS Kinetic.

   http://wiki.ros.org/kinetic/Installation/Ubuntu

2. Install Openpose and OpenposeROS node following instructions below.

   https://github.com/firephinx/openpose_ros

Unless you want to use a separate camera skip step 3 and 4.

3. Install Realsense Camera Prerequisities.

   http://wiki.ros.org/librealsense#Installation_Prerequisites

4. Install Realsense Camera ROS Node from source.

   http://wiki.ros.org/realsense_camera/Tutorials/Building_librealsense_from_Sources

Installation

1. Git clone the package into catkin workspace src folder.

   :~/path-to-catkin-workspace/catkin_ws/src$ git clone https://github.com/tolgasaglik/Gesture-Recognition-with-Openpose-ROS.git

Skip step 2 if you have already initialized your workspace.

2. Initialize your workspace.

   :~/catkin_ws$ catkin_init_workspace

3. Build your package.

   :~/catkin_ws$ catkin_make

4. Source you environment.

   :~/catkin_ws$ source devel/setup.bash

5. Invoke the launcher. You may modify it if you want to use another camera.

   :~/catkin_ws$ roslaunch $(find gesture_detector)/launch/gesture_detector.launch

License

Unless otherwise noted, gesture_detector repository is licensed under a BSD license (see LICENSE.bsd).

Contributors

This is a non-exhaustive list of contributors:

• FranLera