NVIDIA Jetson Body Pose Estimation (PoseNet)
What is Pose Estimation and PoseNet?
Pose estimation consists of locating various body parts (aka keypoints) that form a skeletal topology (aka links). Pose estimation has a variety of applications including gestures, AR/VR, HMI (human/machine interface), and posture/gait correction. Pre-trained models are provided for human body and hand pose estimation that are capable of detecting multiple people per frame.
The poseNet object accepts an image as input, and outputs a list of object poses. Each object pose contains a list of detected keypoints, along with their locations and links between keypoints. You can query these to find particular features. poseNet can be used from Python and C++.
Pre-trained Pose Estimation Models
| Model | CLI argument | NetworkType enum | Keypoints |
|---|---|---|---|
| Pose-ResNet18-Body | resnet18-body | RESNET18_BODY | 18 |
| Pose-ResNet18-Hand | resnet18-hand | RESNET18_HAND | 21 |
| Pose-DenseNet121-Body | densenet121-body | DENSENET121_BODY | 18 |
Run Demo Code
[image] saved ‘pose.jpg' (1920x1080, 3 channels)
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[TRT] Timing Report networks/Pose-ResNet18-Body/pose_resnet18_body.onnx
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[TRT] Pre-Process CPU 0.08505ms CUDA 0.75511ms
[TRT] Network CPU 141.51538ms CUDA 140.91484ms
[TRT] Post-Process CPU 11.97670ms CUDA 11.82979ms
[TRT] Visualize CPU 34.30075ms CUDA 34.65588ms
[TRT] Total CPU 187.87788ms CUDA 188.15562ms
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[image] saved 'pose.jpg' (1920x1080, 3 channels)
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[TRT] Timing Report networks/Pose-DenseNet121-Body/pose_densenet121_body.onnx
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[TRT] Pre-Process CPU 0.09818ms CUDA 0.79229ms
[TRT] Network CPU 91.03501ms CUDA 90.19708ms
[TRT] Post-Process CPU 14.73071ms CUDA 14.91401ms
[TRT] Visualize CPU 39.99346ms CUDA 39.82302ms
[TRT] Total CPU 145.85736ms CUDA 145.72641ms
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posenet: detected 4 person(s)
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[TRT] Timing Report networks/Pose-ResNet18-Body/pose_resnet18_body.onnx
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[TRT] Pre-Process CPU 0.11573ms CUDA 0.76760ms
[TRT] Network CPU 67.07027ms CUDA 65.11172ms
[TRT] Post-Process CPU 11.31063ms CUDA 11.28625ms
[TRT] Visualize CPU 2.35010ms CUDA 1.99943ms
[TRT] Total CPU 80.84673ms CUDA 79.16499ms
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Hardware and OS
- NVIDIA Jetson Nano 4GB
- Jetpack SDK 4.6.1
Reference
