Physical Setup

This works best with a projector, but any monitor will do. In order to not become confused, I highly recommend that you put the kinect over or under the monitor.

Installation

1. Like all MIT kinect demos, you must first perform the General Installation

2. make sure you get Piano Player demo running.

3. in file kgui/rosdep.yaml, replace
   • glut:
     • ubuntu: libglut3-dev
   • with
   • glut:
     • ubuntu:
       • lucid:
         • apt:
           • packages: [ libglut3-dev ]
         maverick:
         • apt:
           • packages: [ libglut3-dev ]
         natty:
         • apt:
           • packages: [ libglut3-dev ]
         oneiric:
         • apt:
           • packages: [ freeglut3-dev ]

   rosed kgui rosdep.yaml

4. install depencencies

   rosdep install kgui

5. in file kgui/src/RosGlobals.h, replace void Publish(const ros::Message& _msg) with void Publish(const rosMessage& _msg), then add template <typename rosMessage >above it.

   rosed kgui RosGlobals.h

6. Once your environment is setup, run:

    rosmake kgui hand_interaction skeletal_tracker

Execution

This demo uses the finger detector. To launch it run:

roslaunch hand_interaction finger_detector.launch

The launch the gui:

rosrun kgui calgui

Now check the boxes 'online mode' and 'hand in'