ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

3

Transform between Kinect skeleton base frame and camera frame

asked 2011-03-02 16:27:31 -0600

pbrook
226 ●3 ●6 ●7

I am trying to use the ROS NI drivers (openni_camera) with the Kinect, and additionally use openni_tracker to get the transforms for the joints for a detected skeleton. However, the joint transforms are published under the "/openni_depth" frame, which doesn't exist in the tree of frames published by the kinect_frames.launch file. Setting an identity static transform between /openni_depth_frame and /openni_depth didn't seem to give correct results.

Does anybody know the transform between /openni_depth and a frame in the hierarchy published by the driver?

Thanks,

Peter Brook

edit retag flag offensive close merge delete

Comments

I've opened a ticket to make these line work by default again. https://kforge.ros.org/openni/Trac/ticket/6

tfoote ( 2011-03-07 05:34:19 -0600 )edit

That kforge link didn't seem to work, I get a 404 error. It seems that https://kforge.ros.org/openni/ isn't on the server?

pbrook ( 2011-03-07 12:43:34 -0600 )edit

1 Answer

Sort by » oldest newest most voted

0

answered 2011-03-07 11:24:47 -0600

flag of United States of America

58457 ●128 ●550 ●526 http://www.ros.org/

updated 2011-03-07 11:31:50 -0600

I just tested it now, openni_depth was changed to default to openni_depth_frame so that also needs to be the default in openni_tracker.

I'm updating the code to be parameterizable with parameter ~/camera_frame_id defaulting to openni_depth_frame.

edit flag offensive delete link

Comments

It might be interesting to have the output printed in ROS_INFO or ROS_DEBUG format.

KoenBuys ( 2011-03-07 17:35:45 -0600 )edit

Question Tools

2 followers

Stats

Asked: 2011-03-02 16:27:31 -0600

Seen: 1,161 times

Last updated: Mar 07 '11

Related questions

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2