Transforming between openni_depth_frame to a frame in the hierarchy of the kinect driver
When using the openni_tracker for skeletal tracking, all the skeletal frames being tracked have common parent frame "openni_depth_frame". Since the openni_depth_frame does not have a parent in the tf tree, I cannot transform the tracked joint positions from the "openni_depth_frame" to any other openni frame of the kinect, for instance "openni_rgb_optical_frame". I think the only solution is to link the "openni_depth_frame" to a frame in the hierarchy of the kinect drivers with a static transform publisher. I have looked into the kinect_frames in openni_camera/launch but cannot find a relation between the two. Does anyone know the transform between /openni_depth_frame and any other openni frame?
Thanks