/kinect2_tracker

body tracking for ROS using Nite2.2 and libfreenect2

Primary LanguageC++

kinect2_tracker

A working ROS wrapper for the KinectOne (v2) using libfreenect2

install

  • install libfreenect2
    • Make sure to install all the optional stuff, including OpenCL and OpenNI2
    • When you build the library, do not follow the instructions there, instead run
    mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=/usr/
make
sudo make install
  • Download NiTE2 and put it in ~/package_ws/NiTE-Linux-x64-2.2/
    • Or you can put it in some other random places, but you need to modify CMakeList.txt and setup_nite.bash
  • source setup_nite.bash

To run the program the launch file needs to be used

Run

roslaunch kinect2_tracker tracker.launch

API

Published

  • /people_skeleton : kinect2_tracker::user_IDs, id array of the tracked people
  • /people_points: kinect2_tracker::user_points, center of mass for each person
  • /people_points_viz: visualization_msgs::Marker, people points to show in rviz
  • tf transforms for the human skeletons
  • Kinect RGB, depth and infrad images

Params

  • tf_prefix: The prefirx when publishing tf
  • relative_frame: The base frame of the Kinect observations