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Script for Matlab from openni tracker

Hi all! I'm running ROS hydro with ubuntu 12.04. I'm using kinect for skeletal tracking, what I need is the transformation between joints (in terms of translation and rotation) obtained with the command tf echo, to be elaborated in Matlab. I suppose to do a script in C/C++ to bring these data from ROS to Matlab. Can someone suggest me how to do that? Regards