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ROS: 6D Rotation Representation for Unconstrained Head Pose Estimation (Pytorch)

Basic ROS implementation of 6DRepNet. For for information visit https://github.com/thohemp/6DRepNet.

animated

Citing

If you find our work useful, please cite the paper:

@INPROCEEDINGS{9897219,
  author={Hempel, Thorsten and Abdelrahman, Ahmed A. and Al-Hamadi, Ayoub},
  booktitle={2022 IEEE International Conference on Image Processing (ICIP)}, 
  title={6d Rotation Representation For Unconstrained Head Pose Estimation}, 
  year={2022},
  volume={},
  number={},
  pages={2496-2500},
  doi={10.1109/ICIP46576.2022.9897219}}

Quick Start: 

git clone https://github.com/thohemp/6DRepNet_ros ros_workspace/src
catkin build 6DRepNet_ros
source devel/setup.bash # Source workspace
cd src/6DRepNet_ros
chmod +x 6drepnet_node.py

Prerequisites:

python3 -m venv venv
source venv/bin/activate
pip install -r requirements.txt  # Install required packages
pip install git+https://github.com/elliottzheng/face-detection.git@master # Face detector

Camera Demo:

roscore # start roscore
rosrun 6DRepNet_ros 6drepnet_node.py  --snapshot 6DRepNet_300W_LP_AFLW2000.pth \
                --cam 0

Image topic Demo:

roscore # start roscore
rosrun 6DRepNet_ros 6drepnet_node.py  --snapshot 6DRepNet_300W_LP_AFLW2000.pth \
                --image_topic /image/image_raw/compressed

Topics:

  • sixdrepnet/image

Show topic:

rosrun image_view image_view image:=/sixdrepnet/image