Tracking and body pose estimation of people using the real sense D415 camera.

[NDonn1]

I am looking to get body pose information using the Real sense D415, however can only seem to see examples to do this using the T265 camera:

Python: https://github.com/IntelRealSense/librealsense/blob/master/wrappers/python/examples/t265_example.py

C++: https://github.com/IntelRealSense/librealsense/tree/master/examples/pose

Is there a way to to obtain pose and tracking data from the D415 using only the librealsense SDK, without the use of a 3rd party software tool? I have heard of Nuitrack but wish to use only the Intel SDK.

[MartyG]

The T265 can provide 6 degrees of freedom (6DOF) pose information, but the RealSense 400 Series depth cameras cannot do this by default. Some users have found workarounds for getting pose from RealSense models without an IMU component such as the D435. These solutions involved using OpenCV or ROS though and not the Librealsense SDK on its own.

https://forums.intel.com/s/question/0D70P000006GEZUSA4

[NDonn1]

Hi @MartyG​ 

Thank you for your response, I was looking for something similar to the functionality here:

https://github.com/IntelRealSense/realsense_samples_ros/tree/kinetic-devel/realsense_ros_person

Would you know of anything similar that can be done with the D415 ? As far as I am aware the SDK which enabled realsense skeletal tracking and gesture detection is depreciated.

[MartyG · Accepted solution]

The best skeletal tracking solution available for the D415 is a commercial package called Nuitrack SDK, which costs around $30 a year and has a free trial version.

https://www.youtube.com/watch?v=gMPtV4NXtUo

If you click the 'More' link in the video's description then it lists the software's features. Face tracking of facial landmarks was added to the features in late 2018.