Run the demo application - Qualcomm Dragonwing Documentation

The prebuilt image includes the sample applications that you can run and use the sample code as a basis to write your own robot and ROS applications. This information guides you to run a demo sample application that estimates human body pose and keypoints from a still image or a live camera stream.

Important

Before running the demo, ensure that the previous steps are successful.
This demo application supports the Qualcomm Dragonwing^TM IQ-9075 Evaluation Kit. For more sample applications, see QIR SDK sample applications.

Run out-of-the-box sample_hrnet_pose_estimation sample application

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Run the sample on the development kit

SSH Session

# Set up the runtime environment
source /usr/share/qirp-setup.sh -m
# Set the ROS_DOMAIN_ID
export ROS_DOMAIN_ID=123
# Launch the sample with an image publisher. You can replace 'image_path' with the path to your desired image.
ros2 launch sample_hrnet_pose_estimation launch_with_image_publisher.py image_path:=/usr/ros/jazzy/share/sample_hrnet_pose_estimation/input_image.jpg
# Launch the sample hrnet pose estimation node with qrb_ros_camera ros node.
ros2 launch sample_hrnet_pose_estimation launch_with_qrb_ros_camera.py

View the results on the host computer

Start the rqt.

SSH Session

# YOUR_HOST_IP is the IP address of the Host where you want to view the sample output.
export DISPLAY=YOUR_HOST_IP:0
export ROS_DOMAIN_ID=123
rqt

Select the following buttons in sequence: Plugins —> Visualization —> Image View
Select pose_estimation_results to see the results.

Open a new terminal and run the following command to view the /pose_estimation_points topic.

SSH Session

source /usr/share/qirp-setup.sh -m
export ROS_DOMAIN_ID=123
ros2 topic echo /pose_estimation_points

NoteFor details about the demo application, including its pipeline and how to build it manually, see Estimate human poses with sample_hrnet_pose_estimation.

Next steps

You’ve completed the recommended path. Here’s where to go next:

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​Run out-of-the-box sample_hrnet_pose_estimation sample application

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Run out-of-the-box sample_hrnet_pose_estimation sample application

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