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Skeletal tracker for Asus Xtion Pro Live

asked 2014-10-21 06:18:44 -0500

carloharris gravatar image

Hi. I'm new to the forum and I've a problem with skeletal tracking by using Asus Xtion Pro Live. I've installed openni2_camera and openni2_launch and the system fuction correctly. So I can use Xtion Pro Live with ros, and I can create a pointclouder in rviz and other tools. I've tried to use openni_tracker to tracking the skeleton but this node does not function with Xtion Pro Live. Does anyone has the same problem? Does anyone known if there is an alternative node can I use to track the skeleton with Xtion Pro Live? Thank you for your attention!

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answered 2014-10-22 10:09:57 -0500

carloharris gravatar image

updated 2015-03-05 09:08:07 -0500

paulbovbel gravatar image

This morning I solved my problem. Below I explain what I've done.

  1. From this source I installed the openni2_tracker from this link:
  2. Then I downloaded NiTE-2.0.0 from this link Since this link has died I used web archive to open the site
  3. I downoloaded OpenNI2. I don't remember the way, but could be from this link
  4. At this point I modified the CMakeLists.txt in the openni2_tracker package (I've this package on my sandbox in the groovy_workspace). The change I made, indicates the path relative at the folder that contain the two folders NiTE-2.0.0 and OpenNI2. This should be done because openni2_tracker use NiTE-2.0.0 and OpenNI2 to work. Compile the package to apply the change.
  5. Since the command

    rosrun openni2_tracker openni2_tracker

    doesn't work I tried to use

    roslaunch openni2_tracker tracker.launch

In this way I've seen that that the system need of the NiTE2 data, so I created a link of the folder NiTE2 (this folder is the NiTE-2.0.0 folder in the path Redist) in the .ros folder (.ros folder it's a hidden folder in the home). I run the command

roslaunch openni2_tracker tracker.launch

The tracker work and with rviz I can see the skeleton tracking. I haven't yet try if openni2_tracker work with openni2_lunch. When I try I update the answer. Scuse me if I writed some inaccuracies but I'm a rookie. Thank you for your attention.

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I am not able to able to use openni2_launch and openni2_tracker at the same time. Please, let me know if you have success with it.

rastaxe gravatar image rastaxe  ( 2014-10-23 03:22:36 -0500 )edit

Hi, I'm trying to use

roslaunch openni2_tracker tracker.launch

But it gives me the next error ERROR: cannot launch node of type [openni2_tracker/tracker]: can't locate node [tracker] in package [openni2_tracker]

Do you know what the problem is? im using ROS-Indigo on UBUNTU 14.04 and XTION

jaam002 gravatar image jaam002  ( 2015-08-20 22:20:05 -0500 )edit

Finally i could solve this problem ;)

jaam002 gravatar image jaam002  ( 2015-08-21 11:23:56 -0500 )edit

@jaam002, so did you manage to solve it? If so, how? Because I'm stuck with the same problem, as well.

ishareef gravatar image ishareef  ( 2015-08-27 13:22:42 -0500 )edit

@ishareef yeah, the problem was i was using the openni2_tracker from futureneer and the CMake file of it was developed for "rosbuild" and not for "catkin". Nevertheless, the skeleton_tracker from Chaos works with catkin, so i used it.

jaam002 gravatar image jaam002  ( 2015-08-30 21:02:25 -0500 )edit

in step 4, you talk about modifying the openni2_tracker CMakeLists.txt file.
Which lines do you change? It's not obvious to me... Thanks.

joe.s gravatar image joe.s  ( 2016-04-01 16:09:09 -0500 )edit

answered 2015-05-18 05:49:57 -0500

Chaos gravatar image

Hi everyone! I modified the original openni2_tracker node for publishing the video stream and the point cloud. You can clone the package here It is a catkinized version of the package, and it also publishes the IDs of the identified users. I hope it is useful!

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hi Chaos, thank you for your edits everything works fine except video stream. I get video stream but frequency is around 4 hz from /camera/rgb/image topic which is supposed to be around 30 hz. Do you get proper frequency ?

skywalker gravatar image skywalker  ( 2015-07-16 12:31:06 -0500 )edit

Hi @skywalker! That's strange... I can get the video-stream at 30 Hz... The topic's publish frequency is 15 Hz. Do you broadcast the video over a network? I mean: do you acquire the video with a PC and subscribe to it with another node on another PC?

Chaos gravatar image Chaos  ( 2015-07-17 02:50:10 -0500 )edit

Hi, the Note 2 Link doesn't work anymore. Do you have another link for me? Thx

drchopper gravatar image drchopper  ( 2015-08-13 08:44:09 -0500 )edit

Hi @drchopper. Try this link. Otherwise, in the cob_people_perception package you should find the nite2.

Chaos gravatar image Chaos  ( 2015-08-24 02:39:38 -0500 )edit

Hi, has somebody tested the skeleton tracker from @Chaos with the drivers from i can't still figure out how to use it with the kinect v2

jaam002 gravatar image jaam002  ( 2015-08-31 09:38:05 -0500 )edit

Sorry @jaam002, but the skeleton tracker I built is intended to be used with the ASUS Xtion Pro Live. I don't know if it can be also used with the Kinect...

Chaos gravatar image Chaos  ( 2015-09-01 02:32:41 -0500 )edit

@Chaos, why aren't you using depth_image_proc or something like that to produce the point clouds and the 32Float depth image? Is there a problem with that? Otherwise depth_image_proc can increase your topic publishing rate to 30hz or so depending or your computer's power...less computations to do

Pototo gravatar image Pototo  ( 2016-09-30 17:43:56 -0500 )edit

@Pototo, this was just my first trial in writing a ROS node for getting both the skeleton tracked from the XTion, the image, the depth image and the point cloud. I didn't know about the depth_image_proc existence.

Chaos gravatar image Chaos  ( 2016-10-03 07:19:06 -0500 )edit

answered 2014-10-21 08:35:29 -0500

kramer gravatar image

You're correct that openni_tracker is incompatible with openni2_launch. The issue comes down to the Openni middleware NiTE. The openni_tracker uses NiTE v1.5 (I'm not sure if earlier versions of NiTE work, as I've only used 1.5). NiTE v1.5 is still available at various places (for instance, on the CD I received with a recently purchased Asus XtionPRO Live).

However, NiTE v2 is required for skeleton tracking with openni2. My understanding is that Apple bought the company that was developing NiTE and subsequently "closed-sourced" it -- that is, pulled the distribution licences. This makes it difficult, to say the least, to find a copy of NiTE2. And if you do, it's likely the source is in violation of their license (again, this is just my understanding of the situation).

Now, if you can find a copy of the NiTE2 software, the openni2_tracker ROS package found at is functional, although it could use some tweaking.

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Thank you @kramer for your answer. If I can't use NitE2 for the trouble you said. I can try to use Xtion Pro Live with openni_launch. Unfortunately Xtion Pro Live doesn't function with openni_launch, so I can't use openni_tracker. There's a way to use Xtion Pro Live with openni_launch?

carloharris gravatar image carloharris  ( 2014-10-21 10:12:57 -0500 )edit

As far as I know, no.

If you find out differently, I'd certainly appreciate knowing how it's done!

kramer gravatar image kramer  ( 2014-10-21 18:29:50 -0500 )edit

answered 2014-10-22 02:47:32 -0500

rastaxe gravatar image

updated 2014-10-22 02:48:41 -0500

There are two version of the Asus Xtion Pro Live, the oldest one has 0600 id and the new has the 0601 id. With the 0600 you can use openni_launch and openni_tracker without problems. With the 0601 I am able to use openni2_launch and openni2_tracker (with Nite2) but not at the same time! This situation is already presented here. If you look here, they were able to use the 0601 with openni_launch and openni_tracker, but I tried without success.

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Hi everyone! Try to check this post . I managed to publish the video stream while running the openni2_tracker node.

Chaos gravatar image Chaos  ( 2015-05-07 04:19:30 -0500 )edit

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Asked: 2014-10-21 06:18:44 -0500

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Last updated: May 18 '15