Skeleton tracker using point cloud

asked 2015-04-10 04:17:19 -0600

Amine gravatar image

updated 2015-04-10 04:17:54 -0600

Hello,

The default openni_tracker package allows the detection and tracking of a skeleton from a live stream of a Kinect.

However, I have a point cloud data (Type: sensor_msgs/PointCloud2) initially generated by a Kinect sensor and then modified (applying transformation, down-sampling ...).

I want to track a skeleton in this point cloud. Any ideas ?

Regards

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Comments

If there's already a package for what you want to do, why are you rebuilding the functionality using a lower-fidelity point cloud?

Adam Allevato gravatar imageAdam Allevato ( 2015-05-01 10:38:08 -0600 )edit

Because I am not using directly the point cloud from the Kinect live stream, but a modified point cloud (generated from merging multiple kinects point clouds)

Amine gravatar imageAmine ( 2015-05-04 02:14:12 -0600 )edit

You should be able to do this by just merging your point clouds, doing whatever filtering you need, and then republishing the data to another topic. Then just remap your skeleton tracker to subscribe to the filtered data.

Adam Allevato gravatar imageAdam Allevato ( 2015-05-04 10:43:13 -0600 )edit