= Piano Playing Demo =
This is a kinect demo found in the [[mit-ros-pkg]] repository. For more MIT kinect demos check out the [[mit-ros-pkg/KinectDemos| MIT Kinect Demos]] page.

<<Youtube(kf3G-DXqt6Y)>>

<<TableOfContents(4)>>


== How to Run this Demo ==
<<Version()>>


{{{{#!wiki version cturtle
=== Installation ===
 1. Like all MIT kinect demos, you must first perform the [[mit-ros-pkg/KinectDemos#General_Installation| General Installation ]]
 1. Once your environment is setup, run:
 {{{
 rosmake piano
 }}}

=== Execution ===
 {{{
roslaunch piano pianist.launch
 }}}
}}}}


{{{{#!wiki version diamondback
=== Installation ===
 1. Like all MIT kinect demos, you must first perform the [[mit-ros-pkg/KinectDemos#General_Installation| General Installation ]]
 1. Once your environment is setup, run:
 {{{
 rosmake piano
 }}}

=== Execution ===
 {{{
roslaunch piano pianist.launch
 }}}
 * '''Note:''' if this instruction doesn't work, try the instruction of electric.
}}}}

{{{{#!wiki version electric
=== Installation ===
 1. Like all MIT kinect demos, you must first perform the [[mit-ros-pkg/KinectDemos#General_Installation| General Installation ]]
 1. in file kinect_utils/rosdep.yaml, add below to the bottom of the file:
 '''
  lucid:
    libsfml-dev libsfml-audio1.5
  maverick:
    libsfml-dev libsfml-audio1.6
  natty:
    libsfml-dev libsfml-audio1.6
  oneiric:
    libsfml-dev libsfml-audio1.6
 '''
 {{{
roscd kinect_utils 
gedit rosdep.yaml
}}}

 1. install dependencies.

 {{{
rosdep install piano
}}}

 1. in file piano/CMakeLists.txt, replace ''target_link_libraries(testsound sfml-audio)'' with target_link_libraries(testsound sfml-audio '''sfml-system''')

 {{{
rosed piano CMakeLists.txt 
}}}

 1. Once your environment is setup, run:
 {{{
 rosmake piano
}}}

=== Execution ===
 {{{
roslaunch piano pianist.launch
}}}
}}}}

== Tips ==
 * see the [[mit-ros-pkg/KinectDemos/FingerDetection| finger detection demo ]] for tips on how to have reliable finger detections
 * it may be helpful to see your fingers in rviz. see the [[mit-ros-pkg/KinectDemos/FingerDetection| finger detection demo ]] for the rviz configuration to do so.
 * when it detect five fingers, it will first say: "Hold still" indicating that it is waiting for your hand to remain at a fixed position, so it can set up a baseline.  
 * When it says: fingers: <some numbers> you are ready to go!
 * if you dip your finger too much, the kinect will lose sight of it, and the Piano program will do nothing if it does not see five fingers.  
 * The distance threshold is set low, so you should not have to move much.


== Development Info ==

=== Nodes Involved ===
 * [[openni_camera|openni_camera/openni_node]]
 * [[hand_interaction|hand_interaction/detectskelhands]]
 * [[hand_interaction|hand_interaction/analyzehands]]
 * [[piano|piano/pianist]]
 * [[skeletal_tracker|skeletal_tracker/tracker]]

=== Dependencies ===
==== External ====
This package depends on the [[http://www.sfml-dev.org/|Simple Fast Media Library]] to play sounds.  
you can install the dependencies using rosdep:
{{{
rosdep install piano
}}}

==== ROS Packages ====
 * ni
 * pcl
 * hand_interaction
 * skeletal_tracker
 * piano