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Xtion/Kinect Getting Startes

Place Xtion

To place the xtion on the Qbo please read the user guide: Qbo user guide

Ros requirement

You need to install the Openni ros software:

sudo apt-get install ros-electric-openni-kinect

Test device

Then run the launcher:

roslaunch openni_launch openni.launch

Now you can see the RGB image:

rosrun image_view image_view image:=/camera/rgb/image_color

And the depth image:

rosrun image_view disparity_view image:=/camera/depth/disparity

Use Xtion/Kinect images in apps

Webi

This is a temporal solution until we modify the webi source code for xtion/kinect auto-detection. Modify this line(83):

    'live_leftEye':'/image/stream?topic=/stereo/left/image_raw&quality=',

By this one:

    'live_leftEye':'/image/stream?topic=/camera/rgb/image_color&quality='

Also the live_rightEye can be used.

Face tracking

Create a launch file with:

<include file="$(find openni_launch)/launch/openni.launch" /> 
	
<remap from="/stereo/left/camera_info" to="/camera/rgb/camera_info"/>
<remap from="/stereo/left/image_rect_color" to="/camera/rgb/image_color"/>
<include file="$(find qbo_face_tracking)/launch/qbo_face_tracking.launch" /> 
qbo_apps/xtion-kinect.txt · Last modified: 2013/04/30 04:51 by manon