kinect2_tracker

A working ROS wrapper for the KinectOne (v2) using libfreenect2

install

install libfreenect2
- Make sure to install all the optional stuff, including OpenCL and OpenNI2
- When you build the library, do not follow the instructions there, instead run
```
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=/usr/
make
sudo make install
```
Download NiTE2 and put it in ~/package_ws/NiTE-Linux-x64-2.2/
- Or you can put it in some other random places, but you need to modify CMakeList.txt and setup_nite.bash
source setup_nite.bash

To run the program the launch file needs to be used

roslaunch kinect2_tracker tracker.launch

/people_skeleton : kinect2_tracker::user_IDs, id array of the tracked people
/people_points: kinect2_tracker::user_points, center of mass for each person
/people_points_viz: visualization_msgs::Marker, people points to show in rviz
tf transforms for the human skeletons
Kinect RGB, depth and infrad images