OpenNi Skeleton Tracking - Save calibration data

asked 2011-03-17 08:14:18 -0500

Thorsten
61 ●1 ●1 ●4

updated 2016-10-24 09:00:39 -0500

ngrennan
1 ●1 ●1

Hello,

i use the openNi skeleton tracking. I achieved good results by saving the calibration data of the first Person, and the loading the data for all other Persons. Is it possible to save/load the data to/from a file or something like that? I found nothing like that in the API...

cheers, Thorsten

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I know about bags, but that's not the solution... The Problem is in the OpenNi API...

Thorsten ( 2011-03-17 17:45:52 -0500 )edit

Bags are the solution in ROS, for OpenNI native solution I suggest you ask this on their forums.

tfoote ( 2011-09-11 08:14:49 -0500 )edit

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answered 2011-07-19 00:51:52 -0500

Miguel Prada

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updated 2011-08-07 23:40:20 -0500

I recently realised that new methods have been added to the OpenNI API to allow saving/loading skeleton calibration data to a file. However, I've trying to make them work without success. The methods I'm talking about are

XnStatus xn::SkeletonCapability::SaveCalibrationDataToFile(XnUserID user, const XnChar * strFileName)
XnStatus xn::SkeletonCapability::LoadCalibrationDataFromFile(XnUserID user, const XnChar * strFileName)

Has anyone managed to use those successfully?

Update: The code I used to test this is a modified version of openni_tracker.cpp in trunk. You can check lines 201 to 268 in http://pastebin.com/d0m6J6tb

The service requests contain the user id (int) and a filename (string), and I've tried both absolute and relative paths for the filename without success.

Update 2: Apparently it is a OpenNI version issue: http://answers.ros.org/question/1631/openni-save-calibration-to-file-failed-this

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they do not work for me either. I didn't try and debug too much. I'd be interested if there is a fix.

JoeRomano ( 2011-07-19 15:28:27 -0500 )edit

I'm guessing that it might be related to the OpenNI version in the Ubuntu openni-dev package. I'm afraid to test installing a newer version by hand on the production machine. When can a new version of OpenNI and NITE be expected to be released as an Ubuntu package?

Miguel Prada ( 2011-07-28 23:12:54 -0500 )edit

Are you just copying the functions from the OpenNI API and pasting them into the ROS code?

qdocehf ( 2011-08-02 06:06:19 -0500 )edit

No, @qdocehf, I'm not ;)

Miguel Prada ( 2011-08-02 18:58:52 -0500 )edit

Sorry, that was pretty dumb of me. Are you using these with the ROS code at all? If so, could you show me how you altered the code?

qdocehf ( 2011-08-03 01:09:25 -0500 )edit

Don't worry, it was a legitimate question. The way I tried those was by adding a couple of load/save services to openni_tracker. Unfortunately the files are on my laptop at work, so I'll be unable to show them until tomorrow (maybe late evening for you).

Miguel Prada ( 2011-08-03 02:07:32 -0500 )edit

I want to try this out, but I want to leave a copy of the original openni_tracker package. What is the best way to do this? I think that simply using the "cp" command would cause problems.

qdocehf ( 2011-08-04 03:13:49 -0500 )edit

You can make a copy of the package and prepend its path to ROS_PACKAGE_PATH. The ROS tools (rosmake, rosrun, etc.) will use the copy of the package found first (leftmost) on ROS_PACKAGE_PATH. If you copy a package installed with apt, you'll need to fix permissions and remove the ROS_NOBUILD file.

Miguel Prada ( 2011-08-04 04:12:37 -0500 )edit

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