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opennitracker [2015/10/28 15:34]
nfave
opennitracker [2019/04/25 14:08] (current)
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-====== ​Openni Tracker ​======+====== ​Openni_Tracker (ROS package)====== 
 +{{tag>​software tutorial ros_package}} 
 +This package allow the detection of people. http://​wiki.ros.org/​openni_tracker
  
-This package allow the detection of people+The last version available is for the Hydro distro, but it is working on the Indigo distro
  
 ===== Instructions ===== ===== Instructions =====
  
-dans un terminal :  +==== Get the position of person and display it on a point cloud ====
- roslaunch openni_launch openni_launch camera:=openni+
  
-dans un autre +You need to have openni_launch package installed 
 + 
 +Open a terminal ​
  rosrun openni_tracker openni_tracker  rosrun openni_tracker openni_tracker
  
-Then you must do the [[Psi Pose]]+Then you must do the [[Psi Pose]] ​before the terminal displays messages showing that it is tracking a person.
  
-dans un autre +To visualise, in another terminal ​
  rosrun rviz rviz   rosrun rviz rviz 
-puis suivre la config (http://​answers.ros.org/​question/​10325/​how-do-i-run-the-openni_tracker/​)+then follow the process explain [[http://​answers.ros.org/​question/​10325/​how-do-i-run-the-openni_tracker/ ​| here]] 
 +<​hidden>​ 
 +In details, in Rviz, change Global Options > Fixed Frame to openni_depth_frame. 
 + 
 +"​Add"​ the visualization (bottom leftPointCloud2. 
 + 
 +Input in field PointCloud2 >Topic the value /​openni/​depth_registered/​points. 
 + 
 +"​Add"​ the visualization (bottom left) TF. 
 + 
 +Stand in front of the Microsoft Kinect and make the "Psi Pose". Axes should appear on all your joints. You might need to zoom or unzoom 
 + 
 +</​hidden>​ 
 + 
 +{{tag>​software}}
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  • Last modified: 2019/04/25 14:08
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