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opennitracker [2015/10/28 15:39] 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. http://wiki.ros.org/openni_tracker | ||
- | You must have the openni_launch package for this package to work. | + | 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 left) PointCloud2. | ||
+ | |||
+ | 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}} |