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Openni skeleton tracker does not post transforms

asked 2012-01-19 18:17:43 -0600

michikarg gravatar image

updated 2016-10-24 09:02:36 -0600

ngrennan gravatar image


i am trying to use the openni skeleton tracker with kinect. We are starting openni with default parameters and openni_tracker:

$ roslaunch openni openni.launch
$ rosrun openni_tracker openni_tracker

And it basically seems to detect the human and the PSI-pose, but i cannot get any visualization in RVIZ. As far as i understand the code, the skeleton-transforms should be posted via tf? Also i cannot find the "Prime Sense User Tracker Viewer" anywhere...

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answered 2012-01-19 21:04:05 -0600

Alireza gravatar image

updated 2012-01-19 21:04:31 -0600

what are your RVIZ configs ? you have to add a tf frame to rviz! Enter "rostopic list" command in console and make sure that tf topic is exist and also do a "rostopic echo /tf" to make sure that transforms are posted to tf topic! I think something similar to "Sense User Tracker Viewer" is exist in pi_tracker package!

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Thanks for your answer. I already added tf to the RVIZ config and checked if the transforms are beiing sent with 'rostopic echo /tf', but only the camera frames appear... I will test with the pi_tracker package now...
michikarg gravatar image michikarg  ( 2012-01-19 21:51:31 -0600 )edit
Sorry for late, the pi_tracker worked for us!
michikarg gravatar image michikarg  ( 2012-02-06 00:18:10 -0600 )edit

answered 2012-04-23 03:49:26 -0600

tayyab gravatar image

updated 2012-04-23 03:50:05 -0600

/tf topics will be published when it has started tracking the User. Before 'tracking' you cannot visualize anything in the rviz. Just make sure you have added the TF and select /openni_depth_frame as Fixed/Reference frame .

Second option is to use the ros openni_tracker on offline data. Record a '.oni' file with Openni Sample NiViewer and then run the ros openni_tracker on this recorded data. For implementation details please checkout my post.


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Asked: 2012-01-19 18:17:43 -0600

Seen: 1,264 times

Last updated: Apr 23 '12