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leg_detector and kinect

asked 2012-04-06 04:18:41 -0500

updated 2016-10-24 09:03:24 -0500

ngrennan gravatar image


I am trying to run a leg_detector2 package from here:

Has anyone had success to run it with kinect? I think that it should not be the problem. I successfully remapped kinect's laser scan to base_scan. But now I don't now how to read or visualize detected legs or any data produced by leg_detector.

I would really appreciate if anybody has any tips.

Thank you.

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3 Answers

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answered 2012-04-09 21:57:33 -0500

I successfully run it with some minor adjustments. First you have to edit your launch file and add to start openni, pointcloud_to_laser_scan and remap kinects laser scan from scan to base_scan. To properly show the data in rviz I modified all .cpp and .py files to change fixed_frame from odom_combined to camera_depth_frame. Maybe you won't have to do that if you actually use odom_combined. In the end don't forget to rosmake it. Now you should be able to show leg detection in rviz by adding MARKER.

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answered 2014-04-28 17:25:38 -0500

James Diprose gravatar image

Hi Grega

I just ported the leg_detector2 package to work with Hydro and the Kinect:



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It sounds good! I will try it. Thanks, @James Diprose

Ken_in_JAPAN gravatar imageKen_in_JAPAN ( 2014-04-28 17:33:56 -0500 )edit

I have an ERROR at compiling the package.

[ rosmake ] WARNING: The following args could not be parsed as stacks or packages: ['leg_detector']                                      
[ rosmake ] ERROR: No arguments could be parsed into valid package or stack names. 

Ken_in_JAPAN gravatar imageKen_in_JAPAN ( 2014-04-29 19:14:11 -0500 )edit

No worries, did you clone the entire directory? e.g. git clone And make the stack (not just one package): rosmake people It also needs to be in your rosbuild workspace because I haven't had time to port it to catkin.

James Diprose gravatar imageJames Diprose ( 2014-05-02 17:59:29 -0500 )edit

Thanks, @James Diprose If following you, compiling succeeded.

Ken_in_JAPAN gravatar imageKen_in_JAPAN ( 2014-05-02 18:45:54 -0500 )edit

You're welcome Ken!

James Diprose gravatar imageJames Diprose ( 2014-05-09 22:47:53 -0500 )edit

answered 2013-01-09 22:57:28 -0500

Subhasis gravatar image

Hi Grega,

Can you please provide source code for leg detection using kinect ?

Regards, Subhasis

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Sorry, I don't have it any more. I started using different method for human detection. I hope you can modify existing leg detector with my tips above. You should be able to run it.

Grega Pusnik gravatar imageGrega Pusnik ( 2013-01-15 19:26:19 -0500 )edit

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Asked: 2012-04-06 04:18:41 -0500

Seen: 1,639 times

Last updated: Apr 28 '14