/kinect2_tracker

Primary LanguageC++

Kinect2 Skeleton tracker

This is modified version of the https://github.com/mcgi5sr2/kinect2_tracker for V-rep mapping

kinect2_tracker_node

ROS wrapper for the skeleton tracker with OpenNI2 and NiTE2

vrep_publisher_node

Vrep wrapper for joint mapping with RosInterface

Step 0: Install Updates

sudo apt-get install cmake git libusb-dev freeglut3-dev pkg-config build-essential libxmu-dev libxi-dev libusb-1.0-0-dev libgtk2.0-dev python-dev python-numpy libavcodec-dev libavformat-dev libswscale-dev

Step 1: libFreeNect, the device driver for Kinect

  • Clone libfreenect:
git clone https://github.com/OpenKinect/libfreenect
cd libfreenect
  • Build and Install
mkdir build
cd build
cmake .. -DBUILD_OPENNI2_DRIVER=ON
make
sudo make install
  • Add to library path:
sudo vi /etc/ld.so.conf.d/custom.conf

/usr/local/lib64/ 
/usr/local/lib64/OpenNI2-FreenectDriver/

Step 2: Install OpenNI and NiTE

unzip OpenNI-Linux-x64-2.2.0.33.tar.zip
tar xvf OpenNI-Linux-x64-2.2.tar.bz2
mv OpenNI-Linux-x64-2.2 ~/Developer/Work/
cd ~/Developer/Work/OpenNI-Linux-x64-2.2
sudo ./install.sh

tar xvf NiTE-Linux-x64-2.2.tar.bz2
cd NiTE-Linux-x64-2.2
sudo ./install.sh
  • Copy libFreenectDriver.so to OpenNI2 directory:
cp /usr/local/lib64/OpenNI2-FreenectDriver/libFreenectDriver.so \
OpenNI-Linux-x64-2.2/Redist/OpenNI2/Drivers/
  • Copy all libraries to /usr/local/lib
sudo cp -R OpenNI-Linux-x64-2.2/Redist/* /usr/local/lib
sudo cp -R NiTE-Linux-x64-2.2/Redist/* /usr/local/lib
  • Add to library path:
sudo vi /etc/ld.so.conf.d/custom.conf

/usr/local/lib64/ 
/usr/local/lib64/OpenNI2-FreenectDriver/
# Added
/usr/local/lib

sudo ldconfig
  • Add OpenNI and NiTE to .bashrc:
cat OpenNI-Linux-x64-2.2/OpenNIDevEnvironment >> ~/.bashrc
cat NiTE-Linux-x64-2.2/NiTEDevEnvironment >> ~/.bashrc

Step 3: Clone ROS package and Install

clone this repository and modify the path(NITE2_DIR and OPENNI2_DIR) in CMakeLists.txt.

then simply catkin_make

To run the program copy the NiTE to .ros path and launch the file

./setup_nite.bash
roslaunch kinect2_tracker tracker.launch

Step 4: Run the V-rep simulation

run the V-rep and load test environment

the path of .ttt file is /scene/test.ttt

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