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Transform between Kinect skeleton base frame and camera frame

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

pbrook gravatar image

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

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I've opened a ticket to make these line work by default again. https://kforge.ros.org/openni/Trac/ticket/6
tfoote gravatar imagetfoote ( 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 gravatar imagepbrook ( 2011-03-07 12:43:34 -0600 )edit

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

tfoote gravatar image

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.

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It might be interesting to have the output printed in ROS_INFO or ROS_DEBUG format.
KoenBuys gravatar imageKoenBuys ( 2011-03-07 17:35:45 -0600 )edit

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

Seen: 1,087 times

Last updated: Mar 07 '11