| 2434 | } |
| 2435 | |
| 2436 | int main(int argc, char *argv[]) { |
| 2437 | |
| 2438 | ros::init(argc, argv, "body_pose_estimator"); |
| 2439 | ros::NodeHandle pnh("~"), nh; |
| 2440 | |
| 2441 | // Parameters |
| 2442 | pnh.param<std::string>("sensor_type", sensor_type, ""); |
| 2443 | |
| 2444 | pnh.param<bool>("fullscreen", _fullscreen, false); |
| 2445 | pnh.param<int>("part_to_show", _part_to_show, 0); |
| 2446 | pnh.param<std::string>("write_frames", _write_frames, ""); |
| 2447 | pnh.param<bool>("no_frame_drops", _no_frame_drops, false); |
| 2448 | pnh.param<std::string>("write_json", _write_json, ""); |
| 2449 | pnh.param<int>("camera_index", _camera_index, 0); |
| 2450 | pnh.param<std::string>("video", _video, ""); |
| 2451 | pnh.param<std::string>("image_dir", _image_dir, ""); |
| 2452 | pnh.param<int>("start_frame", _start_frame, 0); |
| 2453 | pnh.param<std::string>("caffe_model", _caffe_model, |
| 2454 | ros::package::getPath("body_pose_estimation") + |
| 2455 | "/model/coco/pose_iter_440000.caffemodel"); |
| 2456 | pnh.param<std::string>("caffe_proto", _caffe_proto, |
| 2457 | ros::package::getPath("body_pose_estimation") + |
| 2458 | "/model/coco/pose_deploy_linevec.prototxt"); |
| 2459 | pnh.param<std::string>("resolution", _resolution, "640x480"); |
| 2460 | pnh.param<std::string>("net_resolution", _net_resolution, "320x160"); |
| 2461 | pnh.param<std::string>("camera_resolution", _camera_resolution, "640x480"); |
| 2462 | pnh.param<int>("start_device", _start_device, 0); |
| 2463 | pnh.param<int>("num_gpu", _num_gpu, 1); |
| 2464 | pnh.param<double>("start_scale", _start_scale, 1); |
| 2465 | pnh.param<double>("scale_gap", _scale_gap, 0.3); |
| 2466 | pnh.param<int>("num_scales", _num_scales, 1); |
| 2467 | pnh.param<bool>("no_display", _no_display, false); |
| 2468 | pnh.param<std::string>("skeleton_topic_to_publish", |
| 2469 | _skeleton_topic_to_publish, ""); |
| 2470 | pnh.param<std::string>("camera_info_topic", _camera_info_topic, ""); |
| 2471 | pnh.param<std::string>("rgb_topic", _rgb_topic, ""); |
| 2472 | pnh.param<std::string>("depth_topic", _depth_topic, ""); |
| 2473 | pnh.param<std::string>("marker_topic_to_publish", _marker_topic_to_publish, |
| 2474 | ""); |
| 2475 | pnh.param<int>("median_search_x_component", _median_search_x_component, 7); |
| 2476 | pnh.param<int>("median_search_y_component", _median_search_y_component, 7); |
| 2477 | pnh.param<bool>("head_joint_enhancement", _head_joint_enhancement, true); |
| 2478 | pnh.param<double>("head_correction_param", _head_correction_param, 0.3); |
| 2479 | pnh.param<int>("max_size_input_queue", _max_size_input_queue, 1); |
| 2480 | pnh.param<bool>("skeleton_solid_color", _skeleton_solid_color, false); |
| 2481 | pnh.param<double>("skeleton_color_r", _skeleton_color.x, 1.0); |
| 2482 | pnh.param<double>("skeleton_color_g", _skeleton_color.y, 0.0); |
| 2483 | pnh.param<double>("skeleton_color_b", _skeleton_color.z, 0.0); |
| 2484 | pnh.param<double>("noise_threshold", _noise_threshold, 1.0); |
| 2485 | pnh.param<int>("minimum_number_of_valid_3D_joints", |
| 2486 | _minimum_number_of_valid_3D_joints, 5); |
| 2487 | pnh.param<std::string>("raw_skeleton_image_topic_to_publish", |
| 2488 | _raw_skeleton_image_topic_to_publish, |
| 2489 | ""); |
| 2490 | pnh.param<bool>("raw_skeleton_image_on_topic", |
| 2491 | _raw_skeleton_image_on_topic, |
| 2492 | true); |
| 2493 |
nothing calls this directly
no test coverage detected