working with d435

[zinan93]

I wonder if there is a way to run openni2_tracker with d435. I've followed the openni2 wrapper here and the SimpleViewer works. I then installed NiTE and the skeleton tracking also works by running ./UserViewer. Finally I installed openni2_tracker, however running the launch file always ends up "device not found".

Now my hunch tells me there must be a way of accessing the camera via the librealsense OpenNI2 wrapper and then publishing the skeleton coordinates in ROS. Has anyone attempted this before? Any pointers would be appreciated!

[AlessandroMelino]

Hello @zinan93.

I would like to reopen this issue to ask you if it finnaly worked for you.

I am facing a similar issue trying to use the openni2.launch of ROS with a Realsense D435. So when I execute this, appears in terminal:

[ INFO] [1614940981.625499350]: No matching device found.... waiting for devices. Reason: std::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/binarydeb/ros-noetic-openni2-camera-1.5.1/src/openni2_driver.cpp @ 742 : Invalid device number 1, there are 0 devices connected.

I hope you can help me. Thanks in advance.

Best regards.
Alessandro

[zinan93]

Hi @AlessandroMelino, sorry that was long ago and I don't quite remember whether it worked out. Eventually I used OpenPose instead with the same setup.

[AlessandroMelino]

Hello @zinan93 , first of all thank you for your quick answer.
I have studied the OpenPose posibility too, but I have found 2 doubts:

1. Is it possible to run it in parallel with ROS?
2. Is mandatory a Nvidia graphic card? I have a Lenovo YOGA and I don't have the possibility to run it with a powerfull graphic card

Thanks in advance.

Best regards.
Alessandro

[zinan93]

yeah it's possible with ROS, I used this one back then, there are other ROS wrappers as well for openpose, like this one

Nvidia GPU is not mandatory, openpose also has CPU version (just ctrl+F for their CPU build on their github page)