I see what you mean--the user looks more like a cactus than a tree. :))) However, I think if you take the torso joint as the root, don't you end up with a tree structure? e.g. torso->neck->head torso->left_shoulder->left_elbow->left_hand torso->right_shoulder->right_elbow->right_hand torso->left_hip->left_knee->left_foot torso->right_hip->right_knee->right_foot Maybe this is what you meant by it depends on how you define them. --patrick On 03/26/2011 12:22 PM, David Lu!! wrote: > It depends on how you define them. The skeleton visualized with the > kinect ( > http://www.ros.org/wiki/openni_tracker?action=AttachFile&do=get&target=nite.png > ) > isn't a tree, although it could be converted to be one, I suppose > > On Sat, Mar 26, 2011 at 1:11 PM, Patrick Goebel > wrote: > > Hi David, > > I agree it would be nice to have a standardized Skeleton message. > If all skeleton's are trees (is this true?) then perhaps an > existing tree message type could be used if it exists. KDL has > kinematic chains and tf is already built around trees (right?). > That's about as far as I've thought it through... > > --patrick > > > On 03/22/2011 04:17 PM, David Lu!! wrote: >> Hey Ros-users- >> >> Has there been any talk of creating a standardized Skeleton >> message? Right now, it seems like the openni_tracker package just >> publishes transforms. It seems like if the Kinect does skeleton >> tracking, there should be a skeleton message. >> >> I know pi_tracker has its own Skeleton message, which looks like >> it might fit the bill, although I don't think it defines which >> parts are connected (hip bone is connected to the thigh bone). >> http://www.ros.org/doc/api/pi_tracker/html/msg/Skeleton.html >> >> It might be good to have for not only the Kinect, but for other >> motion capture rigs (Vicon and the like). >> >> Are there any other similar message out there? >> >> -David!! >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users > >