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.

Contents

Hand Detection Demo
1. How to Run this Demo
2. Development Info
  1. Nodes Involved
  2. Dependencies

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

Show EOL distros:

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