Human Motion Imitation

Dependencies

Kinect

Install the periferals from here

NITE is now proprietary, but there are still links to older versions around the internet. I found mine here. For Ubuntu install x64 (and x86 if your Ubunutu is 32bits)

Download this openni_tracker instead of the ros-drivers one, and catkin_make the workspace

If no device found or multiple devices are found while launching openni_launch, try

cd ~/kinect/SensorKinect/Platform/Linux/Redist/Sensor-Bin-Linux-x64-v5.1.2.1/
sudo ./install.sh -u # Untill you see, no file exists
sudo ./install.sh

If the problem persists, try launching with argument

roslaunch openni_launch openni.launch device_id:=#2

Openni_launch

Install the openni launch files with this command:

sudo apt install ros-kinetic-openni*

Eigen 3.3.7

Please download the Eigen 3.3.7 from here

Rename and copy the subdirectory Eigen from the downloaded file to the location as /usr/include/eigen3/Eigen3.3.7

Running the code

Run the following command to launch everything.

roslaunch imitation_game imitation_setup.launch

Calibration

Tracker

Calibrate the tracker by standing in the surrender pose. On completion of the calibration message will read Calibration complete, start tracking user,

Razer Controller(Optional)

If you want to use Razer Hydra along with the kinect, First download the archeived frame_publisher from commit f37c46d

Uncomment the hydra.launch launch file and frame_publisher from the imitation_setup.launch launch file.

To calibrate, stand in T-pose, and long press the Button 5 on both the controllers till you see the Calibrating!!! message on console.