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Refactor hand estimation #221

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merged 18 commits into from
Sep 7, 2022
Merged

Refactor hand estimation #221

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fea97ea
Remove hand pose estimation example
oarriaga Sep 6, 2022
3934d3e
Remove unnecessary import
oarriaga Sep 6, 2022
3ec80bb
Update readme to indicate that the pipeline does not do object detection
oarriaga Sep 6, 2022
fb256fb
Add comment about model extension
oarriaga Sep 6, 2022
6ff85da
Clean with PEP8 conventions
oarriaga Sep 6, 2022
7a56aa8
Add new application to hand tracking demo
oarriaga Sep 6, 2022
702f741
Add pep8 convention to video player method
oarriaga Sep 6, 2022
11317fc
Change 3D demo to use pre-trained detector
oarriaga Sep 6, 2022
766ff8d
Change name of example directory for hand pose estimation
oarriaga Sep 7, 2022
107ade3
Remove unecessary import in detection pipeline file
oarriaga Sep 7, 2022
587c983
Change variable order
oarriaga Sep 7, 2022
cb8cac0
Pack example into a single processor function
oarriaga Sep 7, 2022
106a223
Move processor for computing translation3D inside PAZ processors
oarriaga Sep 7, 2022
fff8912
Increase size of bounding box postprocessing
oarriaga Sep 7, 2022
e08c35e
Remove unnecessary import
oarriaga Sep 7, 2022
374a946
Add print standard topic processor
oarriaga Sep 7, 2022
c0fdd7f
Remove print topic to pipeline
oarriaga Sep 7, 2022
1815585
Bump up version
oarriaga Sep 7, 2022
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4 changes: 2 additions & 2 deletions README.md
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Expand Up @@ -16,11 +16,11 @@ PAZ is used in the following examples (links to **real-time demos** and training
|---------------------------|--------------------------| -----------------------|
|<img src="https://raw.githubusercontent.com/oarriaga/altamira-data/master/images/emotion.gif" width="250">| <img src="https://raw.githubusercontent.com/oarriaga/altamira-data/master/images/keypoints.png" width="410">| <img src="https://raw.githubusercontent.com/oarriaga/altamira-data/master/images/mask.png" width="400">|

|[Semantic segmentation](https://github.com/oarriaga/paz/tree/master/examples/semantic_segmentation) | [Hand pose estimation](https://github.com/oarriaga/paz/tree/master/examples/minimal_hand) | [Human pose estimation](https://github.com/oarriaga/paz/tree/master/examples/human_pose_estimation_2D) |
|[Semantic segmentation](https://github.com/oarriaga/paz/tree/master/examples/semantic_segmentation) | [Hand pose estimation](https://github.com/oarriaga/paz/tree/master/examples/hand_pose_estimation) | [Human pose estimation](https://github.com/oarriaga/paz/tree/master/examples/human_pose_estimation_2D) |
|---------------------------|-----------------------|-----------------|
| <img src="https://raw.githubusercontent.com/oarriaga/altamira-data/master/images/semantic_segmentation.png" width="325">| <img src="https://raw.githubusercontent.com/oarriaga/altamira-data/master/images/minimal_hand_example.jpg" width="330"> |<img src="https://raw.githubusercontent.com/oarriaga/altamira-data/master/images/human_pose.gif" width="250"> |

| [3D keypoint discovery](https://github.com/oarriaga/paz/tree/master/examples/discovery_of_latent_keypoints) | [Hand closure detection](https://github.com/oarriaga/paz/tree/master/examples/minimal_hand) | [6D pose estimation](https://github.com/oarriaga/paz/tree/master/examples/pix2pose) |
| [3D keypoint discovery](https://github.com/oarriaga/paz/tree/master/examples/discovery_of_latent_keypoints) | [Hand closure detection](https://github.com/oarriaga/paz/tree/master/examples/hand_pose_estimation) | [6D pose estimation](https://github.com/oarriaga/paz/tree/master/examples/pix2pose) |
|---------------------------|-----------------------| --------------------------|
|<img src="https://raw.githubusercontent.com/oarriaga/altamira-data/master/images/discovery_keypoints.png" width="335"> | <img src="https://raw.githubusercontent.com/oarriaga/altamira-data/master/images/hand_closure_detection.gif" width="250">| <img src="https://raw.githubusercontent.com/oarriaga/altamira-data/master/images/pix2pose_example.jpg" width="330"> |

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6 changes: 4 additions & 2 deletions docs/structure.py
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Expand Up @@ -504,7 +504,8 @@
'page': 'processors/pose.md',
'classes': [
processors.SolvePNP,
processors.SolveChangingObjectPnPRANSAC
processors.SolveChangingObjectPnPRANSAC,
processors.Translation3DFromBoxWidth
]
},

Expand Down Expand Up @@ -551,7 +552,8 @@
processors.UnwrapDictionary,
processors.Scale,
processors.AppendValues,
processors.BooleanToTextMessage
processors.BooleanToTextMessage,
processors.PrintTopics
]
},

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2 changes: 1 addition & 1 deletion examples/hand_detection/pose_demo.py
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Expand Up @@ -9,7 +9,7 @@
help='Camera device ID')
args = parser.parse_args()

pipeline = SSD512MinimalHandPose(right_hand=False, offsets=[0.25, 0.25])
pipeline = SSD512MinimalHandPose(right_hand=False, offsets=[0.5, 0.5])
camera = Camera(args.camera_id)
player = VideoPlayer((640, 480), pipeline, camera)
player.run()
312 changes: 0 additions & 312 deletions examples/hand_pose_estimation/HandPoseEstimation.py
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25 changes: 25 additions & 0 deletions examples/hand_pose_estimation/README.md
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@@ -0,0 +1,25 @@
### This example detects hand pose from an image.

To test the live hand pose estimation from camera, run:
```py
python demo.py
```

To test the hand pose estimation on image, run:
```py
python demo_image.py
```

To test the live hand closure status with the pose estimation from camera, run:
```py
python is_open_demo.py
```

To test the live hand pose estimation from camera and visualize keypoints in 3D, run (This module has an extra dependency of matplotlib):
```py
python demo3D.py
```

### Additional notes
To test a more robust hand pose estimation and open / close classification try out the "paz/examples/hand_detection/pose_demo.py"

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