foxtierney / realsense2openpose3d Goto Github PK
View Code? Open in Web Editor NEWAn open source program for generating 3D keypoint files with an Intel RealSense depth camera and OpenPose
License: BSD 3-Clause "New" or "Revised" License
An open source program for generating 3D keypoint files with an Intel RealSense depth camera and OpenPose
License: BSD 3-Clause "New" or "Revised" License
In the main loop of RealSense2OpenPose3D.cpp
, the lines...
fsAligned = align.process(fsAligned); //Align the depth to the color frame
rs2::frame depthAligned = fsAligned.get_depth_frame(); //Get the aligned depth frame
//Generate a point cloud and a vertex array from that to hand to "updateKeypoints()" so that it can find the world coordinates
rs2::pointcloud ptCld = rs2::pointcloud();
rs2::points depthPoints = ptCld.calculate(depthAligned);
depthVertices = depthPoints.get_vertices();
...account for about 45-60ms of delay when using the chrono
library to do some speed testing. This limits the framerate to 12fps to be extra safe. If OpenPose were to run faster than RS2OP3D, then there is the possibility of losing real-time-ness.
I cannot see how to multi-thread this process to speed it up. Perhaps there is another way that these depth points in 3D space can be acquired instead of with this slow vector. Or maybe there are improvements that can be made to the SDK to reduce latency.
Any help on this would be appreciated.
As shown in the following figure, what is the reason for this? Thank you in advance for answering my questions @xiangyann
A declarative, efficient, and flexible JavaScript library for building user interfaces.
๐ Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.
TypeScript is a superset of JavaScript that compiles to clean JavaScript output.
An Open Source Machine Learning Framework for Everyone
The Web framework for perfectionists with deadlines.
A PHP framework for web artisans
Bring data to life with SVG, Canvas and HTML. ๐๐๐
JavaScript (JS) is a lightweight interpreted programming language with first-class functions.
Some thing interesting about web. New door for the world.
A server is a program made to process requests and deliver data to clients.
Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.
Some thing interesting about visualization, use data art
Some thing interesting about game, make everyone happy.
We are working to build community through open source technology. NB: members must have two-factor auth.
Open source projects and samples from Microsoft.
Google โค๏ธ Open Source for everyone.
Alibaba Open Source for everyone
Data-Driven Documents codes.
China tencent open source team.