c++ - ROS hydro + OpenNI2 + NiTE2 on Linux Ubuntu 12.04 NiTE 初始化失败

Question

我面临的问题是，当我尝试初始化 NiTE 时失败，错误代码为 1 (STATUS_ERROR)

nite::NiTE::initialize();

我有一个设计机器人模仿项目的项目。以下是一些详细信息:

• 我正在使用虚拟机在 Linux 上进行开发。
• 我已经测试了与 Assus Xtion Pro Live 的连接(示例)并且它正在运行。
• 我已经在 Windows 下构建了我的跟踪器，它们正在运行，我需要做的就是将它们作为节点附加到 ROS。
• 我已经在 CMakeList.txt 中连接了 OpenNI2 和 NiTE2，如下所示。

我从做我自己的 ROS hydro 包开始——目前有一个简单的结构:-柳絮包.... - 来源...... - beginner_pkg............ - 源代码............... - talker.cpp...............-listerner.cpp.... - 开发.... - 构建

我的 beginner_pkg 的 CMakeList.txt 如下:

cmake_minimum_required(VERSION 2.8.3)
project(beginner_tutorials)

## Find catkin and any catkin pack
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  genmsg
  tf
)

#set(NITE2_INCLUDE "/home/evo/Desktop/NiTE-Linux-x64-2.2/Include/")
#set(NITE2_REDIST64 "/home/evo/Desktop/NiTE-Linux-x64-2.2/Redist/")

##Find pack for OpenNI2
find_path(OpenNI2_INCLUDEDIR
      NAMES OpenNI.h
      HINTS /usr/include/openni2)
find_library(OpenNI2_LIBRARIES
         NAMES OpenNI2 DummyDevice OniFile PS1090
         HINTS /usr/lib/ /usr/lib/OpenNI2/Drivers
         PATH_SUFFIXES lib)
message (STATUS ${OpenNI2_LIBRARIES})
##Find pack for NiTE2
message(STATUS $ENV{NITE2_INCLUDE})
message(STATUS $ENV{NITE2_REDIST64})
#/home/evo/Desktop/NiTE-Linux-x64-2.2/Include/
find_path (NITE2_INCLUDEDIR
           NAMES NiTE.h
           HINTS "/home/evo/Desktop/NiTE-Linux-x64-2.2/Include/")
##/home/evo/Desktop/NiTE-Linux-x64-2.2/Redist/
find_library (NITE2_LIBRARY
          NAMES NiTE2
          HINTS "/home/evo/Desktop/NiTE-Linux-x64-2.2/Redist/"
          PATH_SUFFIXES lib)


## Declare a catkin package
catkin_package()

## Build talker and listener 

include_directories(include ${catkin_INCLUDE_DIRS})
include_directories(${OpenNI2_INCLUDEDIR})
include_directories(${NITE2_INCLUDEDIR})

add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
target_link_libraries(talker ${OpenNI2_LIBRARIES} ${NITE2_LIBRARY})
add_dependencies(talker beginner_tutorials_generate_messages_cpp)

add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener beginner_tutorials_generate_messages_cpp)

我保留了与 CMakeList.txt 中相同的路径

talker的Cpp代码如下:

int main(int argc, char **argv)
{
  bool active = true;
  HandTracker hTracker;

  Status status = STATUS_OK;
  status = NiTE::initialize(); 
  // iniciate the ROS communicator
  ros::init(argc, argv, "talker");
  ros::NodeHandle n;
  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
  ros::Rate loop_rate(10);
  // Define the msg
  std_msgs::String msg;
  std::stringstream ss;
  // ros::ok()
  if(!HandleStatus(status)) {
        printf("ERROR: #%d, %s \r\n", status,openni::OpenNI::getExtendedError());
    ss << "NITE NOT INITIALIZED";
        msg.data = ss.str();
    ROS_INFO("%s", msg.data.c_str());
    chatter_pub.publish(msg);
    return 1;
  }else ss<<"NITE initialized";
...

我试过这个解决方案:

http://ariandy1.wordpress.com/2013/07/10/ros-openni2-nite2/

并从机器学习数据所在的文件夹运行我的 beginner_tutorials，但没有任何区别。

有什么我可能犯错的建议吗？非常感谢你提前。

Answer 1

事实证明我的 CMakeList.txt 没有正确定义并且它没有在它所在的位置找到 NiTE2...然后出现了中提到的初始化问题

http://ariandy1.wordpress.com/2013/07/10/ros-openni2-nite2/

找不到位于 Redist 文件夹中的机器学习文件。

我使用了位于

的 openni2_tracker 中的 CMakeList.txt

https://github.com/ros-drivers/openni2_tracker

经过一些调整，它成功了。