Hand Detection Demo
This is a kinect demo found in the mit-ros-pkg repository. For more MIT kinect demos check out the MIT Kinect Demos page.
Looking for Finger Detection? This is purely hand detection code - it does not differentiate fingers! For finger differentiation, see the finger detection demo
How to Run this Demo
Installation
Like all MIT kinect demos, you must first perform the General Installation
- Once your environment is setup, run:
rosmake hand_interaction
Execution
roslaunch hand_interaction hand_detector.launch
To view with rviz, use the configuration hand_interaction/config/handdetection.vcg:
rosrun rviz rviz -d $(rospack find hand_interaction)/config/handdetection.vcg
- Note: it is possible to run this demo without the skeleton tracking. In this mode, the hand detector simply finds the two closest blobs.
To use this, simply use detecthands instead of detectskelhands
Installation
Like all MIT kinect demos, you must first perform the General Installation
- Once your environment is setup, run:
rosmake hand_interaction
To get Xml file for openni/lib (in order to avoid error InitFromXml failed: File not found!)
sudo mkdir -p $(rospack find openni)/lib sudo cp /etc/primesense/SamplesConfig.xml $(rospack find openni)/lib/)
Execution
roslaunch hand_interaction hand_detector.launch
To view with rviz, use the configuration hand_interaction/config/handdetection.vcg:
rosrun rviz rviz -d $(rospack find hand_interaction)/config/handdetection.vcg
- Note: it is possible to run this demo without the skeleton tracking. In this mode, the hand detector simply finds the two closest blobs.
To use this, simply use detecthands instead of detectskelhands
Installation
Like all MIT kinect demos, you must first perform the General Installation
- Once your environment is setup, run:
rosmake hand_interaction
To get Xml file for openni/lib (in order to avoid error InitFromXml failed: File not found!)
sudo mkdir -p $(rospack find openni)/lib sudo cp /etc/openni/SamplesConfig.xml $(rospack find openni)/lib/
In the file hand_detector.launch, replace <node pkg="hand_interaction" type="detectskelhands" name="handdetector" output="screen" > with <node pkg="hand_interaction" type="detectskelhands" name="handdetector" output="screen" respawn="true">
rosed hand_interaction hand_detector.launch
Execution
To run hand_interaction demo:
roslaunch hand_interaction hand_detector.launch
To view with rviz:
- Enable mapping_rviz_plugin first.
rosmake mapping_rviz_plugin
- Use the configuration hand_interaction/config/handdetection.vcg:
rosrun rviz rviz -d $(rospack find hand_interaction)/config/handdetection.vcg
AzureViolin: Note: I can't run this demo with detecthands instead of detectskelhands. Need some help here.
Development Info
Nodes Involved
Dependencies
- openni
- pcl
- hand_interaction
- skeletal_tracker