Ubuntu安装Kinect驱动实现骨骼关节点识别
1.介绍
安装环境:Ubuntu 14.04,Kinect V1
另外,openni、Sensor、NITE这三个包的版本必须匹配才能正常运行,安装版本如下:
OpenNI-Bin-Dev-Linux-x64-v1.5.7.10.tar
NITE-Bin-Linux-x64-v1.5.2.23.tar
SensorKinect093-Bin-Linux-x64-v5.1.2.1
网盘链接:http://pan.baidu.com/s/1hqHB10w 提取密码:wrmn
【注意】:这几个文件都是压缩包,需要在Ubuntu系统中点击“提取”实现解压才能安装。
2.安装openni、Sensor、NITE
2.1安装openni
$ cd /home/siat/software/OpenNI-Bin-Dev-Linux-x64-v1.5.7.10
$ sudo ./install.sh
如果显示如下
Installing OpenNI
…
*** DONE ***
则安装成功
2.2 安装NITE
$ cd /home/siat/software/NITE-Bin-Linux-x64-v1.5.2.23
$ sudo ./install.sh
如果显示如下:
Installing NITE
…
*** DONE ***
则安装成功
2.3 安装Sensor
$ cd /home/siat/software/Sensor-Bin-Linux-x64-v5.1.2.1
$ sudo ./install.sh
如果显示如下
Installing PrimeSense Sensor
…
*** DONE ***
则安装成功
2.4 运行示例
连上Kinect的数据线
$ cd~/software/OpenNI-Bin-Dev-Linux-x64-v1.5.7.10/Samples/Bin/x64-Release
$ ./NiViewer
3.安装openni_tracker
openni_tracker能够得到关节点的ROS坐标系变换,该tf坐标变换是与openni_tracker_frame相关的。安装openni_tracker功能包:
$ cd ~/catkin_ws/src
$ git clone https://github.com/ros-drivers/openni_tracker.git
$ cd ~/catkin_ws
$ catkin_make
$ catkin_make
连接Kinect,查看关节点坐标:
$ roslaunch openni_launch openni.launch
$ rosrun openni_tracker openni_tracker
$ rosrun rviz rviz -d rospack find rbx1_vision
/skeleton_frames.rviz
成功后的结果如下图3-1:
图3-1 骨骼关节点tf坐标
4.安装skeleton_markers
$ cd ~/catkin_ws/src
$ git clone https://github.com/pirobot/skeleton_markers.git
$ cd skeleton_markers
$ git checkout indigo-devel
$ cd ~/catkin_ws
$ catkin_make
$ rospack profile
在rviz中,把Fixed Frame 改成openni_depth_optical_frame;点击Add(左下角),选择PointCloud2,确定;把 PointCloud2 Topic改成/openni/depth_registered/points;再点击Add,选择TF;
适当调整可视框中的角度和放大倍数,站在kinect前面,不一会就能看到骨骼点数据。效果如4-1:
图4-1 骨骼关节点图
原来博客地址:①https://blog.csdn.net/u013453604/article/details/48013959
②https://blog.csdn.net/zqxf123456789/article/details/52094074