mocap_ros

ROS1 wrapper package for motion capture with hand_object_detector, frankmocap, HaMeR and 4D-Humans.

Setup

Prerequisite

This package is build upon

• ROS1 (Noetic)
• torch and cuda
• (Optional) docker and nvidia-container-toolkit (for environment safety)

Build package

on your workspace

It is better to use docker environment cause it needs specific cuda version and build environment.

mkdir -p ~/ros/catkin_ws/src && cd ~/ros/catkin_ws/src
git clone https://github.com/ojh6404/mocap_ros.git
cd ~/ros/catkin_ws/src/mocap_ros
./prepare.sh # install torch and build python submodules
cd ~/ros/catkin_ws && catkin b

using docker (Recommended)

Otherwise, you can build this package on docker environment.

git clone https://github.com/ojh6404/mocap_ros.git
cd mocap_ros && catkin bt # to build message
docker build -t mocap_ros .

Usage

1. run directly

roslaunch mocap_ros hand_mocap.launch \
    input_image:=/kinect_head/rgb/image_rect_color \
    device:=cuda:0 \
    with_mocap:=true

2. using docker

You can run on docker by

./run_docker -host pr1040 -launch hand_mocap.launch \
    input_image:=/kinect_head/rgb/image_rect_color \
    device:=cuda:0 \
    with_mocap:=true

where

• -host : hostname like pr1040 or localhost
• -launch : launch file name to run

launch args below.

• input_image : input image topic
• device : which device to use. cpu or cuda. default is cuda:0.
• hand_threshold : hand detection threshold. default is 0.9.
• object_threshold : object detection threshold. default is 0.9.
• with_handmocap : use mocap or not. if you need faster detection and don't need mocap, then set false. default is true.

Output topic

• ~hand_detections : MocapDetectionArray. array of hand detection results. please refer to msg
• ~debug_image : Image. image for visualization.
• tf : tf. (Optional) publish transforms of key points.

TODO

add rostest and docker build test.