Difference between revisions of "Talk:Aitana-TFM-kinect-ROS05"
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* Por último, abrimos un nuevo terminal y en este ejecutamos por fin: | * Por último, abrimos un nuevo terminal y en este ejecutamos por fin: | ||
| + | <syntaxhighlight>rosrun openni_tracker openni_tracker</syntaxhighlight> | ||
| − | <syntaxhighlight> | + | Una vez que se está ejecutando, nos pondremos enfrente de la kinect en pose PSI [[File:PsiPose.gif|thumb|left|Pose PSI]], de esta forma nos aparecerán los siguientes mensajes: |
| + | <syntaxhighlight>New User 1 | ||
| + | Pose Psi detected for user 1 | ||
| + | Calibration started for user 1 | ||
| + | Calibration complete, start tracking user 1 | ||
| + | Lost User 1</syntaxhighlight> | ||
| − | + | Lo primero que hace es detectar que hay una persona, a continuación, detecta que tiene la posición PSI y entonces comienza la calibración, si nos apartamos de la cámara entonces mostrará el mensaje que indica que ha perdido al usuario. | |
Revision as of 20:00, 3 December 2013
OpenNI traker
Intalación
Lo primero que vamos a decir es como configurar el entorno para poder trabajar con la librería skeleton tracking, para ello vamos a trabajar con ROS, la versión fuerte, para instalarlo:
sudo apt-get install ros-fuerte-desktop-full
Después de eso, para poder trabajar con la kinect, debemos instalar los drivers de openni, recordar que estamos trabajando con la versión fuerte de ros:
sudo apt-get install ros-fuerte-openni-camera ros-fuerte-openni-launch
La librería skeleton tracking, que es la que vamos a utilizar se encuentra en el paquete NITE, que puedes encontrar en el siguiente enlace: [1], debemos descargarnos la versión 1.5, ya que a partir de la versión 2.0 da problemas de compatibilidad y no conseguiremos hacer funcionar la librería skeleton tracking.
Una vez descargado lo descomprimimos y ejecutamos el fichero install.sh.
sudo ./install.shDebemos obtener lo siguiente:
Installing NITE
***************
Copying shared libraries... OK
Copying includes... OK
Installing java bindings... OK
Installing module 'Features_1_3_0'...
Registering module 'libXnVFeatures_1_3_0.so'... OK
Installing module 'Features_1_3_1'...
Registering module 'libXnVFeatures_1_3_1.so'... OK
Installing module 'Features_1_4_1'...
Registering module 'libXnVFeatures_1_4_1.so'... OK
Installing module 'Features_1_4_2'...
Registering module 'libXnVFeatures_1_4_2.so'... OK
Installing module 'Features_1_5_2'...
Registering module 'libXnVFeatures_1_5_2.so'... OK
Copying XnVSceneServer... OK
Installing module 'Features_1_5_2'
registering module 'libXnVHandGenerator_1_3_0.so'...OK
Installing module 'Features_1_5_2'
registering module 'libXnVHandGenerator_1_3_1.so'...OK
Installing module 'Features_1_5_2'
registering module 'libXnVHandGenerator_1_4_1.so'...OK
Installing module 'Features_1_5_2'
registering module 'libXnVHandGenerator_1_4_2.so'...OK
Installing module 'Features_1_5_2'
registering module 'libXnVHandGenerator_1_5_2.so'...OK
Adding license.. OK
*** DONE ***Por último, solo nos falta instalar el paquete en cuestión openni_tracker .
sudo apt-get install ros-fuerte-openni-tracker
Ejecutando Skeleton Tracking
Debemos abrir 3 terminales diferentes:
- En el primero, ejecutaremos ROS, para ello escribimos en linea de comandos:
roscorey nos debe aparecer algo como esto:
... logging to /home/aitana/.ros/log/f3ff128e-5c2a-11e3-8ee4-0c6076187d47/roslaunch-aitana-laptop-3492.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://aitana-laptop:60613/
ros_comm version 1.8.11
SUMMARY
========
PARAMETERS
* /rosdistro
* /rosversion
NODES
auto-starting new master
process[master]: started with pid [3508]
ROS_MASTER_URI=http://aitana-laptop:11311/
setting /run_id to f3ff128e-5c2a-11e3-8ee4-0c6076187d47
process[rosout-1]: started with pid [3521]
started core service [/rosout]Lo dejamos corriendo en segundo plano.
- En el segundo terminal, debemos lanzar los drivers openni para la kinect
roslaunch openni_launch openni.launchY una vez más, nos debe aparecer algo como lo que se muestra a continuación:
... logging to /home/aitana/.ros/log/f3ff128e-5c2a-11e3-8ee4-0c6076187d47/roslaunch-aitana-laptop-3614.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://aitana-laptop:58367/
SUMMARY
========
PARAMETERS
* /camera/depth/rectify_depth/interpolation
* /camera/depth_registered/rectify_depth/interpolation
* /camera/disparity_depth/max_range
* /camera/disparity_depth/min_range
* /camera/disparity_depth_registered/max_range
* /camera/disparity_depth_registered/min_range
* /camera/driver/depth_camera_info_url
* /camera/driver/depth_frame_id
* /camera/driver/depth_registration
* /camera/driver/device_id
* /camera/driver/rgb_camera_info_url
* /camera/driver/rgb_frame_id
* /rosdistro
* /rosversion
NODES
/camera/depth/
metric (nodelet/nodelet)
metric_rect (nodelet/nodelet)
points (nodelet/nodelet)
rectify_depth (nodelet/nodelet)
/camera/rgb/
debayer (nodelet/nodelet)
rectify_color (nodelet/nodelet)
rectify_mono (nodelet/nodelet)
/
camera_base_link (tf/static_transform_publisher)
camera_base_link1 (tf/static_transform_publisher)
camera_base_link2 (tf/static_transform_publisher)
camera_base_link3 (tf/static_transform_publisher)
camera_nodelet_manager (nodelet/nodelet)
/camera/
disparity_depth (nodelet/nodelet)
disparity_depth_registered (nodelet/nodelet)
driver (nodelet/nodelet)
points_xyzrgb_depth_rgb (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
/camera/ir/
rectify_ir (nodelet/nodelet)
/camera/depth_registered/
metric (nodelet/nodelet)
metric_rect (nodelet/nodelet)
rectify_depth (nodelet/nodelet)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[camera_nodelet_manager-1]: started with pid [3634]
process[camera/driver-2]: started with pid [3635]
process[camera/rgb/debayer-3]: started with pid [3636]
process[camera/rgb/rectify_mono-4]: started with pid [3637]
process[camera/rgb/rectify_color-5]: started with pid [3677]
process[camera/ir/rectify_ir-6]: started with pid [3700]
process[camera/depth/rectify_depth-7]: started with pid [3726]
process[camera/depth/metric_rect-8]: started with pid [3754]
process[camera/depth/metric-9]: started with pid [3793]
process[camera/depth/points-10]: started with pid [3830]
process[camera/register_depth_rgb-11]: started with pid [3868]
process[camera/depth_registered/rectify_depth-12]: started with pid [3913]
process[camera/depth_registered/metric_rect-13]: started with pid [3953]
process[camera/depth_registered/metric-14]: started with pid [4002]
process[camera/points_xyzrgb_depth_rgb-15]: started with pid [4055]
process[camera/disparity_depth-16]: started with pid [4106]
process[camera/disparity_depth_registered-17]: started with pid [4151]
process[camera_base_link-18]: started with pid [4281]
process[camera_base_link1-19]: started with pid [4344]
process[camera_base_link2-20]: started with pid [4396]
process[camera_base_link3-21]: started with pid [4434]
[ INFO] [1386082671.833888617]: Initializing nodelet with 2 worker threads.
[ERROR] [1386082676.174882681]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressedDepth/set_parameters]
[ERROR] [1386082676.193015430]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressed/set_parameters]
[ERROR] [1386082676.216452698]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/theora/set_parameters]
[ INFO] [1386082676.733259757]: No devices connected.... waiting for devices to be connected
[ INFO] [1386082679.743069110]: No devices connected.... waiting for devices to be connected
[ INFO] [1386082682.752573950]: No devices connected.... waiting for devices to be connected
[ INFO] [1386082685.762060351]: No devices connected.... waiting for devices to be connectedY que no cunda en pánico, que el error es normal.
- Por último, abrimos un nuevo terminal y en este ejecutamos por fin:
rosrun openni_tracker openni_tracker
New User 1
Pose Psi detected for user 1
Calibration started for user 1
Calibration complete, start tracking user 1
Lost User 1Lo primero que hace es detectar que hay una persona, a continuación, detecta que tiene la posición PSI y entonces comienza la calibración, si nos apartamos de la cámara entonces mostrará el mensaje que indica que ha perdido al usuario.
