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mapping from camera/Image-raw to kinect RGB-D

asked 2015-02-16 07:31:50 -0600

Ho'jat Kaveh gravatar image

Hi every body I'm working on follow-me task. The goal is to make a turtle-bot-like robot follow a specific person in the crowd. I use skeleton_markers to find joints of target person's body and with some control procedure follow her/him. To better support the gained information from skeleton_markers, I want to know how to find corresponding pixel(s) of a specific joint, so I will be able to extract some visual features to uniquely identify the followed person in the crowd.

Concisely, what is the x-y (in pixel) of a joint (that skeleton_markers has published) so I can draw a bounding-box around it. And also in case of losing the followed person (for example due to changing pose), I want to have an approximate place -based on the aforementioned bounding-box- to look for the person in that area.

Can somebody tell any package or method/procedure to achieve this? Any help would be greatly appreciated. P.S.: I'm using ROS Hydro on Ubuntu 12.04. P.P.S: Packages like OpenTLD can follow a textured, but I can't find a way to hint the skeleton_markers package to search a specific place to find the person in case of losing her/him.

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answered 2015-09-17 05:12:58 -0600

Karz gravatar image

Hello, i'm using hydro and pcl to do this. But i'm not able yet to set the spesific person to be followed. As far as i know point cloud has no task like you wrote. Have you done this? With skeleton_markers?

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I'm sorry to inform you that in the end I couldn't solve the problem using skeleton_markers in ROS and switched to Microsoft package on windows. As recall my main unsolved problem was that I couldn't find a transformation matrix from/to depth space to/from color space.

Ho'jat Kaveh gravatar image Ho'jat Kaveh  ( 2015-09-19 07:13:27 -0600 )edit

Ok no problem.. thank you for your answer

Cheers :)

Karz gravatar image Karz  ( 2015-09-20 08:07:37 -0600 )edit

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Asked: 2015-02-16 07:31:50 -0600

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Last updated: Sep 17 '15