Dear friends,
I am new in ROS and OPENNI,
I achieved to launch two same node of the "openni_tracker" (tracker) by two different Kinect by using roslaunch file.
But the problem is that the "openni_tracker" just generate one SKELETON, so I am searching a way that I could relate the "xn::UserGenerator" to each of the Kinects (for example one UserGenerator for Kinect_1 and one different UserGenerator for Kinect_2).
- List item Do we have some limitations for using two different Kinects(camera) and definning different UserGenerator? (as this Link : https://github.com/OpenNI/OpenNI/issues/57 )
- List item Do you have any idea how I could do this?
Thanks
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Multiple skeleton detektion("user-generator") by multiple kinects by OPENNI_TRACKER
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How to get Kinect's serial number with OPENNI
Dear friends,
I am new in "openni". I want to get my Kinect's serial number that I can use this to relate the "openni_tracker" package to each kinect to have a multi skeleton tracking of a ONE human body.
I know already that we could have the Serial Number in Linux by :
- List item lsusb -v
But I wanted to get this number by openni c++, then I tried this answer of this question :
- List item http://stackoverflow.com/questions/8988090/how-can-i-get-the-kinect-serial-number-with-openni
But it still didnt work for me. I did not achieve to print my Serial or use it.
Can you please help me?
Thanks
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Using openni_tracker with Gazebo simulator
It seems openni_tracker is hardly bound with the low level hardware access driver(Kinect, Xition, etc). Therefore if openni_tracker is launched in a simulation environment (eg. Gazebo + Turtlebot simulator) it doesn't initialize. Note that I've OpenNI + NITE installed and works fine with a real Kinect device.
InitFromXml failed: Can't create any node of the requested type!
So I have two questions.
1) Is there any openni_tracker version which is not hardly bound to hardware, but just coupled by ROS RGB-D topics ?
2) Is there any way to emulate the hardware (eg. Kinect) so that openni_tracker would work as it is a real device?
Any thoughts on this would be really appreciated.
Thank you!
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openni_tracker for multiple users
Hi,
I have previously done skeleton tracking using [openni_tracker](http://wiki.ros.org/openni_tracker) with only one user. Interestingly, `openni_tracker` can also detect multiple users and hopefully track them. I have tried doing it but the following problem occurred.
1. It detects users 1 and also detects his Psi pose.
2. When the second user comes into the frame, it detects second user but does not detect his Psi pose
3. It does not start tracking any of them.
Here is what happens:
Any one who can possibly comment on the correct usage of `openni_tracker` for multiple user tracking is welcomed.
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Running openni_tracker with multiple kinects
Hi everyone,
I am using two kinects on the same computer, and I would like to run some skeleton tracking for each of the kinects.
In order to do that, multiple solutions occured to my mind :
1) run openni_tracker for each kinect : this does not work, as openni_tracker runs on the first device it finds, without letting me selecting the device I want to use (if anyone knows how to modify it, I would be glad)
2) save the data with rosbag, then replay only one kinect, while puting an invalid device id (as said here : [Tutorial Bag Recording](http://www.ros.org/wiki/openni_launch/Tutorials/BagRecordingPlayback)). However, this solution does not work, and some other people had the same problem as shown in ros answers [here](http://answers.ros.org/question/33764/running-ros-openni-tracker-from-bag-files/).
I tried to go into openni code, but without success, I don't have any idea how to modify it.
My config : ROS Eletric, under Ubuntu 10.04
Any help or idea would be appreciated,
Thank you in advance,
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Problems when adding subscriber to openni_tracker
Hi,
I customized openni_tracker to fit the needs of an application. Basically I just needed the part to detect new users and lost users and the coordinates of some joints, so I removed all the unnecessary tf parts and just publish the coordinates i needed. So far no problem, I encounter problem when I tried to add a subscriber. By default openni_tracker doesn't call ros::spinOnce so I added it just before r:sleep() (r being ros::rate) so that the subscriber callback would be called but when I do so the coordinates are always set to 0, 0, 0 like openni can not get any coordinates. Can anyone tell me what may be the problem?
Thank you in advance
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openni_tracker with topics from Kinect
Hello all;
My question is simple, but I have not found response in the forum...
Is it possible to use openni_tracker package with topics provided by a simulated kinect?
I do not have a physical kinect device to use, only topics.
Is there any simple way to do this?
Thank yo very much in advance,
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Gazebo, simulated Kinect and openni_tracker
Hello all;
I have a Gazebo environment with a simulated Kinect. I only have the topics of the kinect available. Is there any option to use openni_tracker and feed it with depth data directly? It seems to require a real device...
thank you all in advance.
Alberto
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openni_tracker or openni2_tracker for ROS indigo
Hi all,
I am currently using ASUS Xtion on 64 bit ubuntu 14.04 and ROS indigo, and trying to implement skeleton tracking using openni and openni_tracker. The version of my Xtion is old one, so mine works for both openni_launch and openni2_launch. I have OpenNI 1.5.4.0, OpenNI 2.2.0, NITE 1.5.2.23, and NITE 2.2. I've been using them to get either openni_tracker or openni2_tracker working, but I wasn't able to. I literally tried lots of combinations that I can come up for this but I don't get it why.
Since there is not much information on openni, is there anyone who has succeeded in implementing either openni_tracker or openni2_tracker on ROS indigo? I guess kinect or Xtion doesn't matter for this problem. Any advice or experience would be really appreciable. Thanks in advance!
--edit
If you see [link text](https://github.com/ros-drivers/openni_tracker/pull/8), it mentions the possibility of removing NITE library from openni_tracker. Do you guys think openni_tracker(or openni2_tracker) without NITE library can be achievable?
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tf that has stopped publishing still can be found by lookupTransform
Hi guys,
My problem is that lookupTransform function can still get the transformation and rotation of a frame that has stopped publishing already (I tried tf_echo and tf_monitor and it is not there.)
What I am doing is that I use Kinect and openni_tracker to get the skeleton, then use a frame from the skeleton to set up another frame relative to the world frame. However, when the human is not present in the Kinect view anymore, the skeleton's frames are still in the list got from listener.getFrameStrings(). Anyway, my broadcaster.sendTransform(...) is not called, as far as I have checked, so my frame is not published. (tf_monitor also shows that it is not there.)
But, another node that is waiting for this frame can still get translation and rotation from lookupTransform function, which is not what I want.
Any possible causes? Thank you.
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Difficulty installing and running openni_tracker on Hydro
I am trying to install and run openni_tracker on a turtlebot laptop running hydro. When I try to run the openni_tracker after installing it with sudo apt-get install ros-hydro-openni-tracker we get this error:
/opt/ros/hydro/lib/openni_tracker/openni_tracker: error while loading shared libraries: liborocos-kdl.so.1.3: cannot open shared object file: No such file or directory
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How to install and run openni_tracker for Hydro
Thank you in advance for your help and patience. I am new to ROS and could use some help with openni_tracker and the Microsoft Kinect. I'm am using Ubuntu 12.04 and ROS Hydro
I have installed openni_camera and openni_launch according to [openni_camera](http://wiki.ros.org/openni_camera):
$ sudo apt-get install ros-hydro-openni-camera
$ sudo apt-get install ros-hydro-openni-launch
$ rosdep update
I have no problems running [openni_launch](http://wiki.ros.org/openni_launch) and viewing the point cloud data, color image, or disparity view using Rviz and image_view.
I have installed [openni_tracker](http://wiki.ros.org/openni_tracker):
$ sudo apt-get install ros-hydro-openni-tracker
$ rosdep update
$ roslaunch openni_launch openni.launch
$ rosrun openni_tracker openni_tracker
and get an error
[ERROR] [1416949546.535139208]: Find user generator failed: This operation is invalid!
I've uninstalled ROS (both Groovy and Hydro) with
$ sudo apt-get remove ros-
and still the problem comes up. I've read in a few threads that I should install NITE dev or something to help. But have also noticed that it hasn't helped some people.
Again, I am new to this, so some step-by-step help would be much appreciated. Thanks in advance.
**UPDATE:**
I've also installed openni2_tracker...located in ~/catkin_ws/src/. When I go back to my catkin_ws and use catkin_make, I get the following errors:
-- ==> add_subdirectory(openni2_tracker)
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
Could not find a configuration file for package orocos_kdl.
Set orocos_kdl_DIR to the directory containing a CMake configuration file
for orocos_kdl. The file will have one of the following names:
orocos_kdlConfig.cmake
orocos_kdl-config.cmake
Call Stack (most recent call first):
openni2_tracker/CMakeLists.txt:3 (find_package)
-- Using these message generators: gencpp;genlisp;genpy
-- /usr/lib/libOpenNI2.so
status
status
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
Nite2_INCLUDEDIR
used as include directory in directory /home/ecejames01/catkin_ws/src/openni2_tracker
Nite2_LIBRARY
linked by target "openni2_tracker" in directory /home/ecejames01/catkin_ws/src/openni2_tracker
-- Configuring incomplete, errors occurred!
make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed
I am not sure what this means or how to fix the problem...thanks for your help.
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[openni_tracker] InitFromXml failed: Can't create any node of the requested type!
I'm trying to use the openni_tracker node in the openni_kinect stack but when I try and run it I get the following error message:> InitFromXml failed: Can't create any node of the requested type!
I'm using ros-diamondback and I'm trying to use openni_tracker with the kinect. This is really frustrating because I already had it working. Any help on why I'm getting this error would be appreciated.
Also, because openni_tracker doesn't display a view of the camera's image I was wondering if there was an easily accessible node that could display the skeleton tracking image tracker is based on.
Thanks
Anthony
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Autocalibration of any pose - openni_tracker
Is it possible to edit the openni_tracker.cpp program to enable auto calibration without requiring the user to present a certain pose? Typically the program requires the user to be in a PSI pose.
NeedPoseForCalibration() returns TRUE in my case. If we can make it return FALSE, then we can auto-calibrate it. How do we set it to FALSE?
IS there some other work-around to enable automatic calibration as soon as a user enters the field of view of the kinect camera, i.e., as soon as the User is detected?
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openni_tracker "Find user generator failed"
Hi all!
I try to run `openni_tracker` as follows:
rosrun openni_tracker openni_tracker
after I have launched
roslaunch openni_launch openni.launch
The problem is that when I run the tracker I get an error:
[ERROR] Find user generator failed: This operation is invalid!
Just in case: if I try to run it once more I get no respond and then:
[ERROR] InitFromXml failed: Got a timeout while waiting for a network command to complete!
I believe that "find user" error is generated from the line `150` of the file `openni_tracker.cpp` in `/opt/ros/fuerte/stacks/openni_tracker/src`:
149: nRetVal = g_UserGenerator.Create(g_Context);
150: CHECK_RC(nRetVal, "Find user generator");
Which goes to a macro:
#define CHECK_RC(nRetVal, what) \
if (nRetVal != XN_STATUS_OK) \
{ \
ROS_ERROR("%s failed: %s", what, xnGetStatusString(nRetVal)); \
return nRetVal; \
}
So `g_UserGenerator.Create(g_Context)` for some reason returns not `XN_STATUS_OK`.
Maybe someone had that issue and knows how to resolve it.
As you may have noticed I run ros-fuerte.
Ubuntu 12.04
PS. I'm still fairly new to ROS, so any suggestions of actions that I can take are welcome :) I tried to change the file `openni_tracker.cpp` and recompile openni_tracker via `rosmake openni_tracker`, but that doesn't actually do the trick. Would be gratefull if someone could point me my mistakes. I know that there are a couple of questions that look like this one, but none of those is solved, though it's an important part of ros, I think. Thanks in advance.
`UPD:` I also experience this error on another ubuntu 12.04 PC in my lab. So it seems like this is fuerte+Ubuntu 12.04 issue. I don't have this error on Ubuntu 10.04 and ros-fuerte.
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How do I run the 'openni_tracker'
Hi all,
i have done the following tutorial ' http://www.ros.org/wiki/openni_camera '
now i want to for tracking but i could not do anything mentioned on this page
' http://www.ros.org/wiki/openni_tracker '
Can anyone help me on this?
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Obtaining joint angles from joint TFs?
Hi, I am currently using openni_tracker to tele-op a robot arm using an RGBD sensor. I am able to obtain the joint positions and orientations using openni_tracker, which publishes a TF with respect to the camera frame for every joint. I am getting confused when I think about how I can convert this into relative orientation of each joint, which I can then pass to t he robot control. For each joint, I am interested in two angles: the up-down motion angle and the sideways angle, and I feel that TF is giving me way more data than what's really relevant to me. Any suggestions will be very helpful.
Thanks,
Sai
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How do i get the distancies between frames in openni_tracker?
Hi all!
I'm running ROS hydro with ubuntu 12.04 (I'm new for both of them).
I'm using kinect for skeletal tracking, but I don't know how to get the length of the limbs during a movement.
Can someone help me?
Regards
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openni_tracker without pose
Hi, I'm using ROS hydro in ubuntu 12.04 and kinect with openni_tracker, and I was wondering if is possible do the tracking without any pose.
Thanks.
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openni_tracker does not give me skeleton tracking
when I run openni_tracker it only display tf transform in rviz. but in image viewer, there is no skeleton tracking as shown in this link http://wiki.ros.org/openni_tracker
Did I do sth wrong ?
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