Latif Anjum's profile - activity

Hi all,

I have openni_tracker running and publishing at /tf. I get following type of data if I try to publish /tf or save it in rosbag or text file.

transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 1395050118
        nsecs: 781445267
      frame_id: /openni_depth_frame
    child_frame_id: /left_hand_1
    transform: 
      translation: 
        x: 2.29258546773
        y: 0.40955856152
        z: 0.746916322515
      rotation: 
        x: 0.499999999997
        y: 0.500001836603
        z: 0.499999999997
        w: 0.499998163397
---
transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 1395050118
        nsecs: 781469499
      frame_id: /openni_depth_frame
    child_frame_id: /right_shoulder_1
    transform: 
      translation: 
        x: 2.45040462809
        y: -0.0277115992896
        z: 0.594173250142
      rotation: 
        x: 0.713314685492
        y: 0.667630701545
        z: 0.17342876346
        w: -0.123991410271
//--- and so on!

How can I subscribe to individual joints position, e.g. to only right_shoulder_1? I tried /tf/right_shoulder_1 but it didn't work. Shouldn't I be able to get even the translation of a joint? For example /tf/right_shoulder_1/translation/x should give me x translation position of right_shoulder_1.

The data saved together with all joints makes it difficult to use. I also need individual joint data in inside a program.

Thanks.

Hi there,

I am trying to understand how to publish and subscribe to a PointCloud2 data from Kinect. Here is a sample program that publishes a PointCloud data.

#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>
#include <pcl/point_types.h>

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;

int main(int argc, char** argv)
{
  ros::init (argc, argv, "pub_pcl");
  ros::NodeHandle nh;
  ros::Publisher pub = nh.advertise<PointCloud> ("points2", 1);

  PointCloud::Ptr msg (new PointCloud);
  msg->header.frame_id = "some_tf_frame";
  msg->height = msg->width = 1;
  msg->points.push_back (pcl::PointXYZ(1.0, 2.0, 3.0));

  ros::Rate loop_rate(4);
  while (nh.ok())
  {
    msg->header.stamp = ros::Time::now ();
    pub.publish (msg);
    ros::spinOnce ();
    loop_rate.sleep ();
  }
}

However, there are errors. My system cannot find files #include <pcl_ros/point_cloud.h> and #include <pcl/point_types.h>. I tried to search for the files, and got them under /pcl-1.5/pcl/point_types.h.

I tried to #include the above path. Now the error changed to fatal error: Eigen/StdVector: No such file or directory, compilation terminated.

Here are my Questions:

1. Why I have files under /pcl-1.5/pcl/point_types.h rather than general

   pcl/point_types.h? Does it make a difference. Same question for pcl_ros/point_cloud.h

2. What am I doing wrong? why an already given code is not running properly?

3. I have no folder called pcl_ros. Why?

Any answer will be appreciated.

Hi,

I am trying to use openni_tracker. I have ros-fuerte-openni* installed. roslaunch openni_launch openni.launch is working properly and I can see the image in rviz. However, when I run rosrun openni_tracker openni_tracker, initially there was the following error.

Find user generator failed: This operation is invalid!

I googled for the solution to this problem and was instructed to install NITE-bin-dev-linux-64-v1.5.2.23. Now the error has change to the following.

Find user generator failed: Can't create any node of the requested type!

Any help?

The patch link is not working. Can you provide a working link?

thank you. I got the answer from the second link you provided.

Hi there,

When a live Kinect is connected, launching openni with roslaunch openni_launch openni.launch starts publishing point clouds at topic /camera/depth/points.

I have videos recorded from Kinect in OpenNI file format (.oni). Can I extract point clouds from these videos? Is there is away openni.launch can be executed with these videos or without live camera?

Thanks.

Hi,

I have previously done skeleton tracking using openni_tracker with only one user. Interestingly, openni_tracker can also detect multiple users and hopefully track them. I have tried doing it but the following problem occurred.

1. It detects users 1 and also detects his Psi pose.
2. When the second user comes into the frame, it detects second user but does not detect his Psi pose
3. It does not start tracking any of them.

Here is what happens:

Any one who can possibly comment on the correct usage of openni_tracker for multiple user tracking is welcomed.

Hi, I have ubuntu 12.04 and NITE-Bin-Dev-Linux-x86-v1.5.2.23 but still require Psi Pose. Its very annoying. Any solution?

Hi,

I am using openni_tracker for some part of my project. However, the fact the openni_tracker does not work unless it detects Psi Pose is very annoying. Is there a way I can avoid making Psi Pose and still track using openni_tracker?

Much appreciated.

Edit 1: I have ubuntu 12.04 and NITE-Bin-Dev-Linux-x86-v1.5.2.23 installed.

Hi,

Is there a way I can store data in my array (inside a c++ program) as rosbag? Just like I can store it as txt or csv file. I know we can store data being published over a ros topic as rosbag but I am wondering if I can do that without publishing the data on rostopic.

regards