Add hand pose estimation

doc/jsk_perception/nodes/hand_pose_estimation_2d.rst

@@ -0,0 +1,88 @@
+hand_pose_estimation_2d.py
+==========================
+
+
+What is this?
+-------------
+
+.. image:: ./images/srhandnet.png
+
+Estimate hand pose in 2d.
+Please refer to `original paper <https://www.yangangwang.com/papers/WANG-SRH-2019-07.html>`_.
+
+In order to use this feature, you need to install `pytorch <https://pytorch.org/get-started/locally/>`_ (pytorch >= 1.4.0 is recommended).
+
+
+Subscribing Topic
+-----------------
+
+* ``~input`` (``sensor_msgs/Image``)
+
+  Input image.
+
+
+Publishing Topic
+----------------
+
+* ``~output/pose`` (``jsk_recognition_msgs/HandPoseArray``)
+
+  Detected hand keypoints 2D positions and scores in image.
+
+* ``~output/vis`` (``sensor_msgs/Image``)
+
+  Visualization image of detected hand poses.
+
+
+Parameters
+----------
+
+* ``~gpu`` (Int, Default: ``-1``)
+
+  GPU id. ``-1`` represents CPU mode.
+
+* ``~thre1`` (Float, Default: ``0.3``)
+
+  Threshold of hand bounding box heatmap value.
+
+* ``~thre2`` (Float, Default: ``0.2``)
+
+  Threshold of hand keypoint heatmap value.
+
+* ``~thre3`` (Int, Default: ``5``)
+
+  Threshold of undetected keypoints quantity.
+
+* ``~visualize`` (Bool, Default: ``True``)
+
+  If ``~visualize`` is true, draw estimated hand keypoints.
+
+* ``~model_file`` (String, Required)
+
+  Trained `SRHandNet model file <https://www.yangangwang.com/papers/WANG-SRH-2019-07.html>`_.
+
+
+Example
+-------
+
+.. code-block:: bash
+
+   roslaunch jsk_perception sample_hand_pose_estimation_2d.launch gpu:=0
+
+
+Reference
+---------
+
+::
+
+  @article{Wang:2019:SRH,
+    doi = {10.1109/TIP.2019.2955280},
+    title = {SRHandNet: Real-time 2D Hand Pose Estimation with Simultaneous Region Localization},
+    journal = {IEEE Transactions on Image Processing},
+    author = {Yangang Wang, Baowen Zhang and Cong Peng},
+    number = 1,
+    month = Oct.,
+    volume = 29,
+    year = 2019,
+    pages = {2977 - 2986},
+    url = {http://yangangwang.com/papers/WANG-SRH-2019-07.html},
+  }

jsk_perception/launch/hand_pose_estimation_2d.launch

@@ -0,0 +1,23 @@
+<launch>
+
+  <arg name="gui" default="true" />
+  <arg name="gpu" default="-1" />
+  <arg name="INPUT_IMAGE" default="/usb_cam/image_raw" />
+
+  <node name="hand_pose_estimation_2d"
+        pkg="jsk_perception" type="hand_pose_estimation_2d.py"
+        output="screen">
+    <remap from="~input" to="$(arg INPUT_IMAGE)" />
+    <rosparam subst_value="true">
+      gpu: $(arg gpu)
+      model_file: $(find jsk_perception)/trained_data/SRHandNet.pts
+    </rosparam>
+  </node>
+
+  <group if="$(arg gui)" >
+    <node name="$(anon image_view)" pkg="image_view" type="image_view"
+          args="image:=/hand_pose_estimation_2d/output/vis">
+    </node>
+  </group>
+
+</launch>