The openni2_tracker broadcasts the OpenNI skeleton frames using ROS tf. It is the new version of the openni_tracker using OpenNI2 and NiTE2. The original version can be found here.
openni2_tracker can be used with various sensors, including Xtion PRO LIVE, Kinect 2, RealSense D4xx, etc. The following takes Intel RealSense D455 as an example to introduce the installation steps. Please test other cameras yourself and very welcome to push related tutorials.
sudo apt install ros-melodic-realsense2-camera(this will install ros-melodic-librealsense2 for you)- Downloads 99-realsense-libusb.rules and
sudo mv 99-realsense-libusb.rules /etc/udev/rules.d/ - Plug in the camera to test:
roslaunch realsense2_camera rs_camera.launch filters:=pointcloud - For more details, please refer to here.
- Clone the repository
cd ~/catkin_ws/src
git clone https://github.com/yzrobot/openni2_tracker.git
- Please note that the content of
NiTE-Linux-x64-2.2cannot be provided due to copyright reasons, please Google it by yourself. - Copy
openni2_tracker/drivers/librs2driver.so(for RealSense D4XX, different drivers may be needed for other types of cameras and operating systems) to the following four locations:
cp openni2_tracker/drivers/librs2driver.so openni2_tracker/OpenNI-Linux-x64-2.2/Tools/OpenNI2/Drivers/
cp openni2_tracker/drivers/librs2driver.so openni2_tracker/OpenNI-Linux-x64-2.2/Samples/Bin/OpenNI2/Drivers
cp openni2_tracker/drivers/librs2driver.so openni2_tracker/OpenNI-Linux-x64-2.2/Redist/OpenNI2/Drivers/
cp openni2_tracker/drivers/librs2driver.so openni2_tracker/NiTE-Linux-x64-2.2/Samples/Bin/OpenNI2/Drivers/
- Add the following code to
~/.bashrc:
# OpenNI2 and NiTE2
export OPENNI2_INCLUDE=~/catkin_ws/src/openni2_tracker/OpenNI-Linux-x64-2.2/Include
export OPENNI2_REDIST=~/catkin_ws/src/openni2_tracker/OpenNI-Linux-x64-2.2/Redist
export NITE2_INCLUDE=~/catkin_ws/src/openni2_tracker/NiTE-Linux-x64-2.2/Include
export NITE2_REDIST64=~/catkin_ws/src/openni2_tracker/NiTE-Linux-x64-2.2/Redist
- Compile
source ~/.bashrc
cd ..
catkin_make
- Run
If you run rosrun openni2_tracker openni2_tracker you might get an error Could not find data file ./NiTE2/s.dat current working directory = ~/catkin_ws. So it's better to run roslaunch openni2_tracker openni2_tracker.launch and establish a symbolic link before that ln -s ~/catkin_ws/src/openni2_tracker/NiTE-Linux-x64-2.2/Redist/NiTE2 ~/.ros/NiTE2.