leg_detector and kinect

asked 2012-04-06 04:18:41 -0600

Grega Pusnik

460 ●25 ●30 ●43 http://si.linkedin.com...

updated 2016-10-24 09:03:24 -0600

ngrennan
1 ●1 ●1

Hey,

I am trying to run a leg_detector2 package from here:

http://code.google.com/p/wu-robotics/source/browse/#svn%2Ftrunk%2Fpeople2

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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answered 2012-04-09 21:57:33 -0600

Grega Pusnik

460 ●25 ●30 ●43 http://si.linkedin.com...

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 -0600

James Diprose
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Hi Grega

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

https://github.com/jdddog/people

Thanks

Jamie

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

Ken_in_JAPAN ( 2014-04-28 17:33:56 -0600 )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 ( 2014-04-29 19:14:11 -0600 )edit

No worries, did you clone the entire directory? e.g. git clone https://github.com/jdddog/people.git 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 ( 2014-05-02 17:59:29 -0600 )edit

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

Ken_in_JAPAN ( 2014-05-02 18:45:54 -0600 )edit

You're welcome Ken!

James Diprose ( 2014-05-09 22:47:53 -0600 )edit

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answered 2013-01-09 22:57:28 -0600

Subhasis
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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 ( 2013-01-15 19:26:19 -0600 )edit

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