Nuitrack Body Tracker

Info

This is a ROS Node to provide functionality of the NuiTrack SDK (https://nuitrack.com)

• NuiTrack is NOT FREE, but reasonably inexpensive, and works with a number of cameras (see their webpage)
• Also see Orbbec Astra SDK as a possible alternative (but only for Orbbec cameras)

Publishes 3 messages:

1. body_tracking_position_pub_ custom message: <body_tracker_msgs::BodyTracker> Includes: 2D position of person relative to head camera; allows for fast, smooth tracking Joint.proj: position in normalized projective coordinates (x, y from 0.0 to 1.0, z is real) Astra Mini FOV: 60 horz, 49.5 vert (degrees)

3D position of the shoulder joint in relation to robot (using TF) Joint.real: position in real world coordinates Useful for tracking person in 3D

2. body_tracking_skeleton_pub_ custom message: <body_tracker_msgs::Skeleton> Includes: Everyting in BodyTracker message above, plus 3D position of upper body joints in relation to robot (using TF)

3. marker_pub_ message: <visualization_msgs::Marker> Publishes 3d markers for selected joints. Visible as markers in RVIZ.

Installation Instructions / Prerequisites

Follow instructions on Nuitrack website

• http://download.3divi.com/Nuitrack/doc/Installation_page.html

Summary instructions below, but bits might not be up to date! Go to the website to get the latest SDK.

• Clone body_tracker_msgs into your Catkin workspace

  • catkin_make to confirm complies OK

• Clone this project into your Catkin workspace

• Remove OpenNI - it conflicts with the version supplied by Nuitrack!

  • sudo apt-get purge --auto-remove openni-utils

• Download BOTH the nuitrack linux drivers and the Nuitrack SDK

• Install Nuitrack Linux drivers:

  • sudo dpkg -i nuitrack-ubuntu-amd64.deb
  • sudo reboot
  • confirm environment variables set correctly:
    • echo $NUITRACK_HOME (should be /usr/etc/nuitrack)
    • echo $LD_LIBRARY_PATH (should include /usr/local/lib/nuitrack)

• Install Nuitrack SDK (NuitrackSDK.zip)

  • Download from: http://download.3divi.com/Nuitrack/
  • mkdir ~/sdk/NuitrackSDK
  • cp NuitrackSDK.zip ~/NuitrackSDK
  • extract ZIP archive with ubuntu Archive Manager (double click the zip file)
  • delete the zip file

• Edit CMakeLists.txt if you installed the SDK to a different location: set(NUITRACK_SDK_PATH /home/system/sdk/NuitrackSDK)

NOTE: Nuitrack install may break other RealSense applications!

• See this discussion:
  • https://community.nuitrack.com/t/nuitrack-prevents-other-realsense-apps-from-working/893
  • if needed: export LD_LIBRARY_PATH="{$LD_LIBRARY_PATH}:/usr/local/lib/nuitrack"

Option: Edit Nuitrack Config parameters (now done in the node code)

• sudo vi $NUITRACK_HOME/data/nuitrack.config
• set Faces.ToUse and DepthProvider.Depth2ColorRegistration to true

Test NuiTrack SDK

• If you run into errors, it is probably becuse you did not reboot after driver install

• Try the license tool, it will test the system:

  • sudo -E nuitrack_license_tool
  • click on "compatibility test"
  • if you have a license, enter it after the test completes.

• Follow instructions at: ~/sdk/NuitrackSDK/Examples/nuitrack_gl_sample/README.txt