Quick Start Example

OpenPTrack Quick Start Guide Example

We have found it very helpful to keep a document on one of the tracking OpenPTrack computers, listing, in the appropriate order, all the commands needed to calibrate and run tracking for the specific OpenPTrack system.

Below is an example of one of our quick start guides, which has three (3) Kinect v2s which are named in the network_camera.yaml kinectv2_left, kinectv2_right, and kinectv2_center on three computers with IP addresses of 192.168.100.101, 192.168.100.102, and 192.168.100.103:

Calibration

On the master (192.168.100.101):

 roscore

 roslaunch opt_calibration calibration_initializer.launch

Now, on all computers in OpenPTrack system including .101 (ssh -XC 192.168.100.102 and ssh -XC 192.168.100.103):

 roslaunch opt_calibration listener.launch

On each computer connected to a Kinect v2:

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

Ignore the error!

On 192.168.100.101:

 roslaunch opt_calibration opt_calibration_master.launch

 roslaunch opt_calibration sensor_kinectv2_left.launch

On 192.168.100.102 (ssh -XC 192.168.100.102):

 roslaunch opt_calibration sensor_kinectv2_right.launch

On 192.168.100.103 (ssh -XC 192.168.100.103:)

 roslaunch opt_calibration sensor_kinectv2_center.launch

Calibrate per normal procedure, then save the calibration:

 rostopic pub /opt_calibration/action std_msgs/String "save" -1

With the listeners still running:

 roslaunch opt_calibration detection_initializer.launch 

Now kill all the terminal commands that are still running.

Detection and Tracking

N.B.: The sudo ./kinect2_bridge command only needs to be run again if the computer has been restarted.

On master (192.168.100.101):

 roscore

 roslaunch tracking tracking_node.launch

 roslaunch detection detection_node_kinectv2_left.launch

On 192.168.100.102:

 roslaunch detection detection_node_kinectv2_right.launch

On 192.168.100.103:

  roslaunch detection detection_node__kinectv2_center.launch