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 <patrick@pirobot.org> 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). 

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!!

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