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openni_tracker and Kinects via network

asked 2013-02-10 20:59:36 -0500

TimB gravatar image

updated 2013-02-17 19:45:29 -0500

Dear all,

i know that some times ago openni_tracker was able to subscribe on the topics published by the openni driver using openni_launch openni.launch However in the corrent version openni_tracker opens the openni driver on it's own. Is it still possible to subscribe on topics published to the network from remote Kinects? Is there an example about how to do this?

kind regards, Tim

UPDATE: the solution was particular easy. Record an oni file with the Kinect camera, than use a xn player to create a depth generator from that oni. finally generate a mockdepthgenerator from that depth generator. after a call of makewritable on the depthmap one can overwrite the depth values with the values coming from the ros topics.

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answered 2013-02-17 20:26:38 -0500

On this thread, I explained how to modify the tracker in order to launch it multiple times with multiple kinects.

Maybe it is modifiable in order to connect to remote kinects ? (would be better than saving oni files in my opinion)

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i am not sure about that. It may work. However i have no idea how to instantiate a DepthGenerator or MockDepthGenerator without a physical oder simulated physical device

TimB gravatar image TimB  ( 2013-02-17 21:46:06 -0500 )edit
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answered 2013-02-10 21:47:30 -0500

TimB gravatar image

thank you for your answer. Unfortunately the main question is targetting on how to use OpenNI (XN Framework) with the topics published from the computers the Kinects are connected onto. The current source code loads the physical Kinect driver and assumes to have the Kinects directly connected to a USB port of the Computer where the tracker is running on

Tim

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Ypu want to use multiple kinects connected to different machines using openni_tracker which is running on a single machine and by default it only starts kinect connected to its own usb ports..am i right??

ayush_dewan gravatar image ayush_dewan  ( 2013-02-10 22:42:39 -0500 )edit
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answered 2013-02-10 21:08:42 -0500

updated 2013-02-11 03:06:30 -0500

As i mentioned earlier that i havent used tracker but what i understand is u have 4 different tracker which is subscribed to 4 kinects on multiple systems and u want to run them together. U can use following

<launch> <group ns="namespace_name"/> <node></node> </group> </launch>

This is one way to run multiple nodes of same type. Let me know if any of my assumption is wrong.

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i guess the assumption that the openni_tracker is able to subscribe on a topic is wrong. The openni_tracker as one can install it from the official repositories loads the driver of the kinect directly and uses the USB Kinect. i am trying to get nite to work with topics published by openni ros

TimB gravatar image TimB  ( 2013-02-11 03:14:04 -0500 )edit
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answered 2013-02-10 23:29:47 -0500

TimB gravatar image

yes, completely right. i want to run the tracker four times on a single computer and use a sensor fusion approach to perform a global tracking

Tim

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I might be spitballing ... but u can try running 4 different openni_tracker with different namespace. To open different kinect with every tracker u can use machine tag which is explained here http://www.ros.org/wiki/roslaunch/XML/machine . Try commenting rather than using answer space..

ayush_dewan gravatar image ayush_dewan  ( 2013-02-10 23:42:29 -0500 )edit

This machine tag is not working for all of my machines. Also from my understanding i can either run the tracker on the computers where the kinects are connected to (via machine tag) or on my computer and run openni remotely. anyway, tracker should load the local usb device and not the remote one

TimB gravatar image TimB  ( 2013-02-11 01:27:59 -0500 )edit

what i am in fact searching for is how to map the rostopics onto a fake depth generator

TimB gravatar image TimB  ( 2013-02-11 01:28:20 -0500 )edit

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Asked: 2013-02-10 20:59:36 -0500

Seen: 238 times

Last updated: Feb 17 '13