ROS骨骼检测程序 功能:启动摄像头读取数据,发布RGBD信息,同时检测人体骨骼,输出所有检测出的骨骼坐标,并将其中置信度最高的用户坐标(头部)以/skeleton_point的topic发布出去。适用于机器人对人体的定位和跟踪。
用到的包:
openni2_launch
&openni2_tracker
: ROS上对OpenNI2和NiTE2的封装
yaml_cpp_0_3
: YAML的C++解释器
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下载并安装NiTE2.x and OpenNI2
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将NiTE2的库创建链接
ln -s ~/NITE2.X_PATH/Samples/Bin/NiTE2 ~/.ros/NiTE2
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设置CMakeLists.txt中的路径
set(OPENNI2_WRAPPER /opt/ros/indigo/include/openni2_camera/) set(OPENNI2_DIR ~/OpenNI2/) set(NITE2_DIR ~/NiTE-Linux-x64-2.2/) set(NITE2_LIB ~/NiTE-Linux-x64-2.2/Redist/libNiTE2.so)
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编译
cd catkin_ws catkin_make
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运行
roslaunch skeleton_detection tracker.launch