日期: 2017 年 8 月 15 日

目前在研究视觉跟踪人的事情，找到的比较好的参考项目就是OpenPTrack了，截至目前（2017.8.14）OpenPTrack的V2版本还没有释放出代码，因此我们只能依旧在V1版本上进行测试，这个版本目前只能在Ubuntu 14.04.5系统上运行，其他系统上（比如Ubuntu 16.04）问题比较多，还是建议在Ubuntu 14.04.5系统上进行安装。

1.从GitHub上获取项目代码

$ sudo apt-get install git -y
$ cd ~
$ git clone https://github.com/OpenPTrack/open_ptrack.git

2.安装ROS

$ cd open_ptrack/scripts
$ chmod +x *.sh
$ ./ros_install.sh

$ source /opt/ros/indigo/setup.bash
$ ./ros_configure.sh

3.安装OpenPTrack

$ ./openptrack_install.sh

4.链接OpenPTrack目录

$ ln -s  ~/workspace/ros/catkin/src/open_ptrack ~/open_ptrack

5.Kinect V2驱动程序安装

$ sudo apt-get install nvidia-375-dev
$ sudo apt-get install ocl-icd-opencl-dev

$ cd ~/workspace/ros/catkin/src
$ source ~/.profile 
$ roscd open_ptrack/../scripts
$ chmod +x kinect2_install.sh
$ ./kinect2_install.sh

重启系统，然后执行如下命令：

$ cd ~/workspace/ros/catkin/devel/lib/kinect2_bridge
$ sudo ./kinect2_bridge

6.完整的自动化安装脚本

import subprocess
def execBashShellCommand(cmd):
    print cmd
    p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE, stderr=subprocess.STDOUT,executable="/bin/bash")
    while True:  
        buff = p.stdout.readline()  
        if buff == '' and p.poll() != None:  
            break
        print buff
    p.wait()


def main():
    execBashShellCommand("rm -rf ~/workspace")
    execBashShellCommand("rm -rf ~/.ros")
    execBashShellCommand("rm -rf ~/.rviz")
    execBashShellCommand("rm -rf ~/open_ptrack")

    execBashShellCommand("sudo apt-get install git -y")
    execBashShellCommand("cd ~ && git clone https://github.com/OpenPTrack/open_ptrack.git")

    execBashShellCommand("sed -i '/source ~\/workspace\/ros\/rosbuild\/setup.bash/d' ~/.bashrc")
    execBashShellCommand("sed -i '/export KINECT_DRIVER=openni/d' ~/.bashrc")
    execBashShellCommand("sed -i '/export LC_ALL=C/d' ~/.bashrc")

    execBashShellCommand("cd ~/open_ptrack/scripts && chmod +x *.sh && ./ros_install.sh")
    execBashShellCommand("cd ~/open_ptrack/scripts && source /opt/ros/indigo/setup.bash ; ./ros_configure.sh")
    execBashShellCommand("cd ~/open_ptrack/scripts && ./openptrack_install.sh")

    execBashShellCommand("ln -s  ~/workspace/ros/catkin/src/open_ptrack ~/open_ptrack")

    execBashShellCommand("source ~/workspace/ros/rosbuild/setup.bash ; source ~/.profile ; export KINECT_DRIVER=openni && export LC_ALL=C && cd ~/workspace/ros/catkin && catkin_make --pkg calibration_msgs && catkin_make --pkg opt_msgs && catkin_make --force-cmake")

    execBashShellCommand("sudo apt-get -y install nvidia-375-dev")
    execBashShellCommand("sudo apt-get -y install ocl-icd-opencl-dev")

    execBashShellCommand("source ~/workspace/ros/rosbuild/setup.bash ; source ~/.profile ; export KINECT_DRIVER=openni && export LC_ALL=C && cd ~/workspace/ros/catkin/src && roscd open_ptrack/../scripts && chmod +x kinect2_install.sh && ./kinect2_install.sh")

    execBashShellCommand("cd ~/workspace/ros/catkin/devel/lib/kinect2_bridge && sudo ./kinect2_bridge")

if __name__ == "__main__":
    main()

7.测试系统

可能需要重新插拔一下Kinect的USB数据线，然后执行如下命令

$ roslaunch kinect2_bridge kinect2_bridge.launch

执行之后，等待十几秒，然后Ctrl+C中断执行。
执行完成后，执行

$ roslaunch tracking detection_and_tracking_kinect2.launch

之后，会弹出三个界面出来。

参考链接

---

OpenPTrack Installation Guide