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openni_tracker with topics from Kinect

asked 2014-09-08 04:31:04 -0600

altella gravatar image

Hello all;

My question is simple, but I have not found response in the forum... Is it possible to use openni_tracker package with topics provided by a simulated kinect? I do not have a physical kinect device to use, only topics. Is there any simple way to do this?

Thank yo very much in advance,

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answered 2014-09-11 05:02:24 -0600

altella gravatar image

Thank you;

The thing is that I have a Gazebo environment with a simulated Kinect. I only have the topics. Is there any option to use openni_tracker and feed it with depth data directly?



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I don't know the answer to that question. You might want to re-ask your question saying that you are trying to use Gazebo with a simulated Kinect to feed openni_tracker. Your original question wasn't very clear on that point.

jarvisschultz gravatar imagejarvisschultz ( 2014-09-11 08:38:00 -0600 )edit

Also, you shouldn't create an answer to just clarify/ add more information, all answers should be answers. The standard is to add this information via edits to the original question.

jarvisschultz gravatar imagejarvisschultz ( 2014-09-11 08:38:45 -0600 )edit

ok, perfect. Thank you.

altella gravatar imagealtella ( 2014-09-11 08:55:08 -0600 )edit

answered 2014-09-08 08:42:08 -0600

All openni_tracker really does is send the transforms from the Kinect's camera_depth_optical_frame to each of the joints on the users using tf. It would be pretty easy to write a simple program to do this using artificial values. Another nice alternative would be to obtain a bag file of recorded openni_tracker transforms. Then you could simply play that data back to simulate the data. I could make you a bag file of just /tf data using openni_tracker if you needed.

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Asked: 2014-09-08 04:31:04 -0600

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Last updated: Sep 11 '14