OpenPose ZED

This sample show how to simply use the ZED with OpenPose, the deep learning framework that detects the skeleton from a single 2D image. The 3D information provided by the ZED is used to place the joints in space. The output is a 3D view of the skeletons.

Installation

Openpose

This sample can be put in the folder examples/user_code/ OR preferably, compile and install openpose with the cmake and compile this anywhere

The installation process is very easy using cmake.

Clone the repository :

    git clone https://github.com/CMU-Perceptual-Computing-Lab/openpose/

Build and install it :

    cd openpose
    mkdir build
    cmake .. # This can take a while
    make -j8
    sudo make install

ZED SDK

The ZED SDK is also a requirement for this sample, download the ZED SDK and follows the instructions.

It requires ZED SDK 3.

Build the program

Open a terminal in the sample directory and execute the following command:

    mkdir build
    cd build
    cmake ..
    make -j8

We then need to make a symbolic link to the models folder to be able to loads it

    ln -s ~/path/to/openpose/models "$(pwd)"

A models folder should now be in the build folder

Run the program

• Navigate to the build directory and launch the executable

• Or open a terminal in the build directory and run the sample :

    ./zed_openpose -net_resolution 656x368
  

Options

Beyond the openpose option, several more were added, mainly:

Example :

    ./zed_openpose -net_resolution 320x240 -ogl_ptcloud true -svo_path ~/foo/bar.svo

Notes

• This sample is a proof of concept and might not be robust to every situation, especially to detect the floor plane if the environment is cluttered.
• This sample was only tested on Linux but should be easy to run on Windows.
• This sample requires both Openpose and the ZED SDK which are heavily relying on the GPU.
• Only the body keypoints are currently used, however we could imagine doing the same for hand and facial keypoints, though the precision required might be a limiting factor.

Support

If you need assistance go to our Community site at https://community.stereolabs.com/