Pose estimation using the trt_pose library.
cd ~/athelas_ws/src
git clone https://github.com/athelas-NEU/pose_estimation.git
cd ..
catkin_make
The get_keypoint ROS service returns the offset from the center of the frame of the keypoint requested.
The service interface is defined as:
string location
---
int32 x
int32 y
The magnitude of the offset is defined in pixel coordinates. The sign of the offet is:
- positive x: go right
- negative x: go left
- negative y: go down
- positive y: go up
To start the service run:
cd ~/catkin_ws
rosrun pose_estimation get_keypoint_service.py