ubuntu indigo skeleton tracker(骨骼跟踪)

版权声明：本文为博主原创文章，未经博主允许不得转载。 https://blog.csdn.net/youngpan1101/article/details/71118170

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文章链接：http://blog.csdn.net/youngpan1101/article/details/71118170
作者：宋洋鹏（youngpan1101）
邮箱： [email protected]

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简介

• 运行平台：ubuntu 14.04 64 bit PC
• ROS 版本： indigo
• 深度相机： ASUS xtion pro camera
• 下面安装过程需要用到的文件：【百度云下载】

安装

• OpenNI2 【ref_1】

  $ sudo apt-get install g++ python libusb-1.0-0-dev libudev-dev openjdk-6-jdk freeglut3-dev doxygen graphviz
  $ git clone https://github.com/occipital/OpenNI2.git
  $ cd [dir-to-OpenNI2]
  $ make
  $ cd [dir-to-OpenNI2]/Bin/x64-Release
  $ sudo ./NiViewer   （没有sudo会导致找不到USB driver）

  

• Nite2 【Download】

  $ tar -xjvf NiTE-Linux-x64-2.2.tar.bz2
  $ cd NiTE-Linux-x64-2.2
  $ sudo ./install.sh

• skeleton_tracker 【ref_1】

  • 下载包并解压
    

    $ cd [dir-to-catkin_ws/src]
    $ git clone https://github.com/Chaos84/skeleton_tracker.git
    $ cd [dir-to-skeleton_tracker]
    $ unzip skeleton_tracker

• 需要进行以下文件的修改（后面带 “# modified” 是表示修改过后的）：

  • CMakeList.txt

    cmake_minimum_required(VERSION 2.8.3)
    project(skeleton_tracker)
    
    find_package(catkin REQUIRED COMPONENTS
      cv_bridge
      geometry_msgs
      image_transport
      kdl_conversions
      openni2_camera
      pcl_conversions
      pcl_ros
      roscpp
      roslib
      tf
      message_generation
    )
    
    find_package(OpenCV 3.2 REQUIRED)   # modified
    
    include_directories(
      include
      ${catkin_INCLUDE_DIRS}
    )
    
    add_message_files(
      FILES
      user_IDs.msg
    )
    
    generate_messages(
      DEPENDENCIES geometry_msgs
    )
    
    catkin_package(
      INCLUDE_DIRS include
      LIBRARIES skeleton_tracker
      CATKIN_DEPENDS cv_bridge geometry_msgs image_transport kdl_conversions openni2_camera pcl_conversions pcl_ros roscpp roslib tf message_runtime
      DEPENDS system_lib opencv
    )
    
    set(OPENNI2_DIR ~/3rdParty/OpenNI2-master)  # modified
    set(OPENNI2_WRAPPER /opt/ros/indigo/include/openni2_camera/)
    set(NITE2_DIR ~/3rdParty/NiTE-Linux-x64-2.2)   # modified
    set(NITE2_LIB ~/3rdParty/NiTE-Linux-x64-2.2/Redist/libNiTE2.so)   # modified
    
    link_directories(${OPENNI2_DIR}/Bin/x64-Release)
    
    include_directories(${OPENNI2_DIR}/Bin/x64-Release)
    include_directories(/usr/include/openni2/)
    include_directories(${OPENNI2_DIR}/Include)
    include_directories(${OPENNI2_WRAPPER})
    include_directories(${NITE2_DIR}/Include)
    include_directories(${OpenCV_INCLUDE_DIRS}/include)
    
    include_directories(/usr/include/pcl-1.7/pcl/io) # modified skeleton_tracker_node.cpp 中"openni_camera/openni_depth_image.h" 和 "openni_camera/openni_exception.h" 头文件引用需要
    
    add_executable(xtion_tracker src/xtion_tracker_node.cpp)
    target_link_libraries(xtion_tracker OpenNI2 ${NITE2_LIB} ${OpenCV_LIBRARIES} ${catkin_LIBRARIES})
    
    add_executable(skeleton_tracker src/skeleton_tracker_node.cpp)
    target_link_libraries(skeleton_tracker OpenNI2 ${NITE2_LIB} ${OpenCV_LIBRARIES} ${catkin_LIBRARIES})

  • src/skeleton_tracker_node.cpp

    Line 64 : #include <openni_camera/OpenNIConfig.h>
       改成   #include <openni2_camera/OpenNI2Config.h>   

  • setup_nite.bash （按自己的具体路径进行修改）

    Line 2 : ln -s ~/dev/NiTE-Linux-x64-2.2/Samples/Bin/NiTE2 ~/.ros/NiTE2
       改成   ln -s ~/3rdParty/NiTE-Linux-x64-2.2/Samples/Bin/NiTE2 ~/.ros/NiTE2   

• 编译 package

  $ cd [our_catkin_workspace]
  $ catkin_make  --pkg skeleton_tracker

• 运行程序

  扫描二维码关注公众号，回复： 3807970 查看本文章

  $ cd [dir-to-skeleton_tracker]
  $ sudo ./setup_nite.bash
  $ roslaunch skeleton_tracker tracker.launch
  $ rviz （打开新的终端，查看 skeleton 各关节）

  【视频效果】