Not able to catkin_make on kinect2_tracker cloned repository #1

bxs1260 · 2016-05-12T20:37:43Z

First of all thanks to you for providing this ROS wrapper to the community. I was following the installation steps and came across few issues and solved them.

Couldn't clone- git clone http://amrcgithub/mep12sr/kinect2_tracker so I have cloned - git clone https://github.com/mcgi5sr2/kinect2_tracker into my catkin workspace.
While doing catkin_make, it throws an error saying fatal error: NiTE.h: No such file or directory
include "NiTE.h" then i have copied all the header files from NiTE's include dir to catkin_ws/src/kinect2_tracker/include dir. An easy fix is to edit cmakeLists.txt in line 80 and 81 by providing the path to NiTE-Linux-x64-2.2 dir.
After doing above mentioned changes and using catkin_make, it again throws some errors. I have found out it is because of this piece of code in file kinect2_tracker.hpp from line 218-233:
`//Publish the calibration tf_frame as the cross product of the shoulder vectors
-// This function publishes the calibration_space opposite the shoulders of the user

void publishCalibrationOriginTF(nite::SkeletonJoint skelTorso, nite::SkeletonJoint skelRshoulder, nite::SkeletonJoint skelLshoulder, int uid)
{
if (skelTorso.getPositionConfidence() > 0.0)
{

 tf::Transform calibrationOriginTransform;

- tf::Transform torsoTransform;

       tf::Vector3 torsoVec3 = tf::Vector3(skelTorso.getPosition().x / 1000.0, skelTorso.getPosition().y / 1000.0, skelTorso.getPosition().z / 1000.0);

       torsoTransform.setOrigin(torsoVec3);

- torsoTransform.setRotation(tf::Quaternion(0,0,0,1));

       tf::Vector3 RshoulderVec3 = tf::Vector3(skelRshoulder.getPosition().x / 1000.0, skelRshoulder.getPosition().y / 1000.0, skelRshoulder.getPosition().z / 1000.0);                 //create a vector for the right shoulder

- RshoulderVec3 = (RshoulderVec3 - torsoVec3); //vector is the difference of the two

       tf::Vector3 LshoulderVec3 = tf::Vector3(skelLshoulder.getPosition().x / 1000.0, skelLshoulder.getPosition().y / 1000.0, skelLshoulder.getPosition().z / 1000.0);                 //create a vector for the left shoulder`

Fix: remove all these - (hyphen marks) from in front of these lines of code and perform catkin make.

The text was updated successfully, but these errors were encountered:

mcgi5sr2 · 2016-05-12T21:25:26Z

Awesome thanks for these fixes. Does the tracking system work for you now? I will update the readme as soon as I find the time

bxs1260 · 2016-05-12T22:23:34Z

Yes it works ! :) One last thing need to mention is to edit the path in setup_nite.bash for NiTE-Linux-x64-2.2 dir while creating symbolic link between .ros dir and NiTE-Linux-x64-2.2 dir.

I was expecting this kind of topics after $roslaunch kinect2_tracker tracker.launch

(just for ref. from kinect v1 gazebo simulation)

/camera/depth/camera_info

/camera/depth/image_raw

/camera/depth/points

/camera/parameter_descriptions

/camera/parameter_updates

/camera/rgb/camera_info

/camera/rgb/image_raw

/camera/rgb/image_raw/compressed

/camera/rgb/image_raw/compressed/parameter_descriptions

/camera/rgb/image_raw/compressed/parameter_updates

/camera/rgb/image_raw/compressedDepth

/camera/rgb/image_raw/compressedDepth/parameter_descriptions

/camera/rgb/image_raw/compressedDepth/parameter_updates

/camera/rgb/image_raw/theora

/camera/rgb/image_raw/theora/parameter_descriptions

/camera/rgb/image_raw/theora/parameter_updates

But it just shows following topics.

monu@linux:~$ rostopic list
/people

/rosout

/rosout_agg

/tf

monu@linux:~$ rostopic echo /people

ERROR: Cannot load message class for [skeleton_tracker/user_IDs]. Are your messages built?

monu@linux:~$ rostopic echo /tf
transforms:

header:
seq: 0
stamp:
secs: 1463091043
nsecs: 330935578
frame_id: global_space
child_frame_id: /brix_2_camera_frame
transform:
translation:
x: 0.295729
y: -0.463885
z: -0.0325348
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0

Did you manage to visualize raw data of skeleton or depth or IR images streamed out of kinect v2 ROS wrapper.

-Thanks

mcgi5sr2 · 2016-05-13T13:55:55Z

Never managed to get any of that working. Feel free to add pull requests if you manage to improve anything. I believe iai_kinect2 package offers depth etc info over ROS

bxs1260 · 2016-05-13T17:06:17Z

Yeah sure. Thanks

chengzijiazu · 2016-07-26T14:33:57Z

Could this kinect2_tracker run on wimdows?I am working with multiple kinect v2 base on libfreenect2.Thank you!

mcgi5sr2 · 2016-07-26T15:04:42Z

No I am afraid not as it relies on the NiTE2.2 libraries

On 2016-07-26 3:33 PM, Songbin wrote:

Could this kinect2_tracker run on wimdows?I am working with multiple
kinect v2 base on libfreenect2.Thank you!

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chengzijiazu · 2016-07-27T08:16:29Z

Thank you for your reply.
Other question:could this solution track multiple people at the same time and how to fusion the joint data to one skeleton when use the multiple kinects to track one person?
-Thank you !

mcgi5sr2 · 2016-07-27T08:25:46Z

Hi,

I never got as far as fusing the data into one. If you are looking to
use Windows then the university of Ulm created a system that can do that
for you. As I understand it is still a work in progress. You can find
the windows install files and guide here

https://github.com/fg-uulm/fusionkit

I hope this helps

kind regards

Stephen

On 27/07/16 09:16, Songbin wrote:

Thank you for your reply.
Other question:could this solution track multiple people at the same
time and how to fusion the joint data to one skeleton when use the
multiple kinects to track one person?
-Thank you !

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chengzijiazu · 2016-07-27T09:04:17Z

Hi,
that is a great work~

kind regards
Songbin

aaramirezd · 2016-11-22T19:39:00Z

Hi @bxs1260 @mcgi5sr2

I followed all the instructions to configure the package, but I have the following error when run "UserViewer", The same error is generated when I execute "roslaunch kinect2_tracker..."

Protonect and NiViewer2 run correctly

andres@andres:~/usrlib/NiTE-Linux-x64-2.2/Samples/Bin$ sudo ./UserViewer
[Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 8 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @2:5 with serial 012752450747
[Info] [Freenect2Impl] found 1 devices
[Info] [Freenect2Impl] enumerating devices...
[Info] [Freenect2Impl] 8 usb devices connected
[Info] [Freenect2Impl] found valid Kinect v2 @2:5 with serial 012752450747
[Info] [Freenect2Impl] found 1 devices
[Info] [Freenect2DeviceImpl] opening...
[Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 608*33792
[Info] [Freenect2DeviceImpl] opened
[Info] [Freenect2DeviceImpl] starting...
[Info] [Freenect2DeviceImpl] submitting rgb transfers...
[Info] [Freenect2DeviceImpl] submitting depth transfers...
[Info] [RgbPacketStreamParser] packetsize or sequence doesn't match!
[Info] [Freenect2DeviceImpl] started
Error opening database/parameters file.
[Info] [DepthPacketStreamParser] 8 packets were lost
[Info] [OpenGLDepthPacketProcessor] avg. time: 5.16118ms -> ~193.754Hz

Do you have any idea of the error?

Thanks,
Andrés

sweetbrulee · 2023-08-17T07:00:08Z

Copy the files in "Redist/NiTE2/Data" to "Sample/Bin/NiTE2/Data", and the problem should be fixed.

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Not able to catkin_make on kinect2_tracker cloned repository #1

Not able to catkin_make on kinect2_tracker cloned repository #1

bxs1260 commented May 12, 2016 •

edited

include "NiTE.h" then i have copied all the header files from NiTE's include dir to catkin_ws/src/kinect2_tracker/include dir. An easy fix is to edit cmakeLists.txt in line 80 and 81 by providing the path to NiTE-Linux-x64-2.2 dir.

mcgi5sr2 commented May 12, 2016

bxs1260 commented May 12, 2016 •

edited

mcgi5sr2 commented May 13, 2016

bxs1260 commented May 13, 2016

chengzijiazu commented Jul 26, 2016

mcgi5sr2 commented Jul 26, 2016

chengzijiazu commented Jul 27, 2016

mcgi5sr2 commented Jul 27, 2016

chengzijiazu commented Jul 27, 2016

aaramirezd commented Nov 22, 2016

sweetbrulee commented Aug 17, 2023 •

edited

Not able to catkin_make on kinect2_tracker cloned repository #1

Not able to catkin_make on kinect2_tracker cloned repository #1

Comments

bxs1260 commented May 12, 2016 • edited

include "NiTE.h" then i have copied all the header files from NiTE's include dir to catkin_ws/src/kinect2_tracker/include dir. An easy fix is to edit cmakeLists.txt in line 80 and 81 by providing the path to NiTE-Linux-x64-2.2 dir.

- tf::Transform torsoTransform;

- torsoTransform.setRotation(tf::Quaternion(0,0,0,1));

- RshoulderVec3 = (RshoulderVec3 - torsoVec3); //vector is the difference of the two

mcgi5sr2 commented May 12, 2016

bxs1260 commented May 12, 2016 • edited

monu@linux:~$ rostopic echo /tf transforms:

header: seq: 0 stamp: secs: 1463091043 nsecs: 330935578 frame_id: global_space child_frame_id: /brix_2_camera_frame transform: translation: x: 0.295729 y: -0.463885 z: -0.0325348 rotation: x: 0.0 y: 0.0 z: 0.0 w: 1.0

mcgi5sr2 commented May 13, 2016

bxs1260 commented May 13, 2016

chengzijiazu commented Jul 26, 2016

mcgi5sr2 commented Jul 26, 2016

chengzijiazu commented Jul 27, 2016

mcgi5sr2 commented Jul 27, 2016

chengzijiazu commented Jul 27, 2016

aaramirezd commented Nov 22, 2016

sweetbrulee commented Aug 17, 2023 • edited

bxs1260 commented May 12, 2016 •

edited

bxs1260 commented May 12, 2016 •

edited

monu@linux:~$ rostopic echo /tf
transforms:

header:
seq: 0
stamp:
secs: 1463091043
nsecs: 330935578
frame_id: global_space
child_frame_id: /brix_2_camera_frame
transform:
translation:
x: 0.295729
y: -0.463885
z: -0.0325348
rotation:
x: 0.0
y: 0.0
z: 0.0
w: 1.0

sweetbrulee commented Aug 17, 2023 •

edited