pull request of openni2-tracker to make catkin_make supported

CMakeLists.txt

@@ -1,43 +1,59 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
-# Change two lines below according to your installation
-set(OPENNI2_DIR ~/dev/OpenNI2)
-set(NITE2_DIR ~/dev/NiTE-Linux-x64-2.2/)
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-link_directories(${OPENNI2_DIR}/Bin/x64-Release)
-include_directories(${OPENNI2_DIR}/Include)
-link_directories(${NITE2_DIR}/Redist)
-include_directories(${NITE2_DIR}/Include)
-rosbuild_add_executable(tracker src/tracker.cpp)
-target_link_libraries(tracker OpenNI2 NiTE2)
+cmake_minimum_required(VERSION 3.5)
+project(openni2_tracker)
+
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED COMPONENTS 
+	geometry_msgs
+	std_msgs
+	roscpp
+	roslib
+	tf
+	tf2
+	message_generation)
+
+include_directories(${catkin_INCLUDE_DIRS})
+
+add_message_files(
+	FILES
+	TrackerUser.msg
+	TrackerUserArray.msg
+)
+
+generate_messages(
+	DEPENDENCIES
+	std_msgs
+	geometry_msgs
+)
+
+catkin_package(
+	CATKIN_DEPENDS roscpp std_msgs geometry_msgs message_runtime
+)
+
+# Find OpenNI2
+find_path(OpenNI2_INCLUDE_DIR
+	  NAMES OpenNI.h
+	  HINTS /usr/local/include/OpenNI2)
+find_library(OpenNI2_LIBRARIES
+	     NAMES OpenNI2 DummyDevice libOniFile.so PS1090
+	     HINTS /usr/lib/ /usr/local/lib/OpenNI2/Drivers
+	     PATH_SUFFIXES lib) 
+message(STATUS ${OpenNI2_LIBRARIES})
+
+# Find Nite2
+message(status $ENV{NITE2_INCLUDE})
+message(status $ENV{NITE2_REDIST64})
+find_path(Nite2_INCLUDE_DIR
+	  NAMES NiTE.h
+	  HINTS /usr/local/include/NiTE-Linux-x64-2.2)
+find_library(Nite2_LIBRARY
+	     NAMES libNiTE2.so
+	     HINTS /usr/local/bin}
+	     PATH_SUFFIXES lib) 
+
+include_directories(${OpenNI2_INCLUDE_DIR}
+		    ${Nite2_INCLUDE_DIR})
+
+add_executable(tracker src/tracker.cpp)
+target_link_libraries(tracker ${catkin_LIBRARIES} ${OpenNI2_LIBRARIES} ${Nite2_LIBRARY})
+add_dependencies(tracker openni2_tracker_generate_messages_cpp)

README.md

@@ -1,64 +1,104 @@
-openni2_tracker
+openni2-tracker
 ===============
 
-`openni2_tracker` is a ROS Wrapper for the OpenNI2 and NiTE2 Skeleton Tracker. This is designed as a companion package to the `openni2_camera` package (found [here](https://github.com/ros-drivers/openni2_camera)).  Currently, all this node does is publish TF frames of the current tracked user's joint locations.  I will eventually be adding a user message similar to the old `openni_tracker` ROS package.
+This work is developed from [here](https://github.com/futureneer/openni2-tracker), which is based on out-dated rosbuild system. I made it support catkin system, and write a more detailed README to make user can build their development environment step by step.
 
-** Note:  These instructions only been tested with the Primesense Carmine 1.08 tracker.  There is a way to get this working with the Kinect, using the freenect drivers, but I have not tested that yet.  There is information [here](https://github.com/ros-drivers/openni2_camera) on how to use freenect with OpenNI2.
-### Installation
-1. Clone the beta OpenNI2 repository from Github:
+`openni2_tracker` is a ROS Wrapper for the OpenNI2 and NiTE2 Skeleton Tracker. This is designed as a companion package to the `openni2_camera` package (found [here](https://github.com/ros-drivers/openni2_camera)).  Currently, all this node does is publish TF frames of the current tracked user's joint locations.
+
+**Note**:  These instructions only been tested with ASUS Xtion Pro Live in ROS-kinetic, Ubuntu 16.04. You can directly access to the **docker image** file which support all software development environment within OpenGL visualization at [here](https://cloud.docker.com/repository/docker/bluebirdpp/openni2/tags), or just run the following command to get the docker image:
+   ```bash
+   docker pull bluebirdpp/openni2:latest
+   ```
 
+### Installation
+1. Install OpenNI2:
+
     ```bash
-    git clone git@github.com:OpenNI/OpenNI2.git
+    sudo apt install git libusb-1.0-0-dev libudev-dev
+    sudo apt install openjdk-8-jdk  # for xenial; openjdk-6-jdk for trusty; if not using other java version.
+    sudo apt install freeglut3-dev
+    cd  # go home
+    mkdir -p src && cd src  # create $HOME/src if it doesn't exist; then, enter it
+    git clone https://github.com/occipital/OpenNI2.git  # We used to have a fork off 6857677beee08e264fc5aeecb1adf647a7d616ab with working copy of Xtion Pro Live OpenNI2 driver.
+    cd OpenNI2
+    make -j$(nproc)  # compile
+    sudo ln -s $PWD/Bin/x64-Release/libOpenNI2.so /usr/local/lib/  # $PWD should be /yourPathTo/OpenNI2
+    sudo ln -s $PWD/Bin/x64-Release/OpenNI2/ /usr/local/lib/  # $PWD should be /yourPathTo/OpenNI2
+    sudo ln -s $PWD/Include /usr/local/include/OpenNI2  # $PWD should be /yourPathTo/OpenNI2
+    sudo ldconfig
     ```
 
-    Then, switch to the OpenNI2 directory and build:
+2. Install ASUS Xtion Pro Live OpenNI driver:
 
     ```bash
-    cd OpenNI2
-    make
+    sudo apt install libopenni-sensor-primesense0
     ```
-
-2. Install Nite2 from the OpenNI Website [here](http://www.openni.org/files/nite/?count=1&download=http://www.openni.org/wp-content/uploads/2013/10/NiTE-Linux-x64-2.2.tar1.zip).  Be sure to match the version (x86 or x64) with the version of OpenNI2 you installed above.
-You will probably need to create a free account.
-
-    Change directories to the NiTE location and install with 
+
+3. Install NiTE2.2:
 
     ```bash
-    cd NiTE-Linux-x64-2.2
-    sudo ./install.sh
+    cd  # go home
+    mkdir -p src && cd src  # create $HOME/src if it doesn't exist; then, enter it
+    wget https://sourceforge.net/projects/roboticslab/files/External/nite/NiTE-Linux-x64-2.2.tar.bz2
+    tar xvf NiTE-Linux-x64-2.2.tar.bz2
+    sudo ln -s $PWD/NiTE-Linux-x64-2.2/Redist/libNiTE2.so /usr/local/lib/  # $PWD should be /yourPathTo/NiTE-Linux-x64-2.2/..
+    sudo ln -s $PWD/NiTE-Linux-x64-2.2/Include /usr/local/include/NiTE-Linux-x64-2.2  # $PWD should be /yourPathTo/NiTE-Linux-x64-2.2/..
+    sudo ldconfig
     ```
-    Try and run one of the examples in `.../NiTE-Linux-x64-2.2/Samples/Bin/NiTE2`.  If these don't work, then something went wrong with your installation.
-
-3. Clone `openni2_tracker` to your ROS workspace.
-
+
+    To make sure your NiTE2.2 can run successfully, you need to run some NiTE built-in binary file:
+
     ```bash
-    git clone git@github.com:futureneer/openni2-tracker.git
+    cd ~/src/NiTE-Linux-x64-2.2/Samples/Bin
+    ./UserViewer
     ```
-
-4. Configure CMake
-    In the CMakeLists.txt file inside the `openni2_tracker` package, you will need to change the path where CMake will look for OpenNI2 and NiTE2.  These two lines:
+    If you got a depth images stream, that means your NiTE work as expected. If you got "no device found" error, you may need to do this:
 
-    ```makefile
-    set(OPENNI2_DIR ~/dev/OpenNI2)
-    set(NITE2_DIR ~/dev/NiTE-Linux-x64-2.2/)
-    ```
-    need to point to the root directories of where you extracted or cloned OpenNI2 and NiTE2.
+    ```bash
+    sudo ln -s /lib/x86_64-linux-gnu/libudev.so.1.6.4 /lib/x86_64-linux-gnu/libudev.so.0
+    ````
 
+4. Clone `openni2_tracker` to your ROS workspace:
+    ```bash
+    cd ~/catkin_ws/src
+    git clone git@github.com:msr-peng/openni2_tracker.git
+    ```
+
+5. Configure CMake:
 
-5. Make openni2_tracker
+    If you followed Step 1 and Step 2 **strictlly**, then you needn't do anything. Otherwise, you need to modify `CMakeList.txt` in `openni2_tracker` package to make your project can find OpenNI2 and NiTE2.2
+
+6. Make openni2_tracker:
 
     ```bash
-    roscd openni2_tracker
-    rosmake
+    cd ~/catkin_ws
+    catkin_make
     ```
 
-6. Set up NiTE2: Right now, NiTE requires that any executables point to a training sample directory at `.../NiTE-Linux-x64-2.2/Samples/Bin/NiTE2`.  If you run the NiTE sample code, this works fine because those examples are in that same directory.  However, to be able to roslaunch or rosrun openni2_tracker from any current directory, I have created a workaround script `setup_nite.bash`.  This script creates a symbolic link of the NiTE2 directory in your .ros directory (the default working directory for roslaunch / rosrun).  You will need to modify this file so that it points to YOUR NiTE2 and .ros locations.  I would be pleased if anyone has a better solution to this.
-7. Run openni2_tracker
+7. Set up NiTE2:
+
+    Right now, NiTE requires that any executables point to a training sample directory at `.../NiTE-Linux-x64-2.2/Samples/Bin/NiTE2`.  If you run the NiTE sample code, this works fine because those examples are in that same directory.  However, to be able to roslaunch or rosrun openni2_tracker from any current directory, I have created a workaround script `setup_nite.bash`.  This script creates a symbolic link of the NiTE2 directory in your .ros directory (the default working directory for roslaunch / rosrun).  You will need to modify this file so that it points to YOUR NiTE2 and .ros locations.
+    By default, you need do this:
+    ```bash
+    cd ~/catkin_ws/src/openni2_tracker
+    ./setup_nite.bash
+    ```
+    I would be pleased if anyone has a better solution to this.
+
+8. Run openni2_tracker:
 
     ```bash
     roslaunch openni2_tracker tracker.launch
     ```
+
+    Then you can visualize the skeleton tracking results on `Rviz`:
+
+    ```bash
+    rosrun rviz rviz -f /tracker_depth_frame
+    ```
 
+    Finally in `Rivz`, add `TF` to visualize the skeleton keypoints coordinates.
+
     In the lauch file, you can rename both the tracker name and the tracker's relative frame.  I have included a static publisher that aligns the tracker frame to the world frame, approximately 1.25m off the floor.
 
     ```xml
@@ -79,6 +119,3 @@ You will probably need to create a free account.
     ```
 
     Currently, this node will broadcast TF frames of the joints of any user being tracked by the tracker.  The frame names are based on the tracker name, currently `/tracker/user_x/joint_name`
-
-### THANKS!
-Please let me know if something doesnt work, or if you have suggestions (or feel free to add stuff and send a pull request).

setup_nite.bash

@@ -1,2 +1,2 @@
 #!/bin/bash
-ln -s ~/dev/NiTE-Linux-x64-2.2/Samples/Bin/NiTE2 ~/.ros/NiTE2
+ln -s ~/src/NiTE-Linux-x64-2.2/Samples/Bin/NiTE2 ~/.ros/NiTE2