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--- opennitracker [2015/11/10 10:30] – [Get the position of person and display it on a point cloud] nfave
+++ opennitracker [2017/03/24 16:51] (current) – [Get the position of person and display it on a point cloud] mai
@@ Line 1: / Line 1: @@
-====== Openni_Tracker ======
+====== Openni_Tracker (ROS package)======
-{{tag>software tutorial}}
+{{tag>software tutorial ros_package}}
 This package allow the detection of people. http://wiki.ros.org/openni_tracker
@@ Line 12: / Line 12: @@
 Open a terminal :
-	roslaunch openni_launch openni_launch camera:=openni
-In another terminal :
 	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.
-In another terminal :
+To visualise, in another terminal :
 	rosrun rviz rviz
 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}}