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
> <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
> <mailto: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).
>> 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 <mailto:ros-users@code.ros.org>
>> https://code.ros.org/mailman/listinfo/ros-users
>
>
))%20%20However,%20I%20think%20if%20you%20take%20the%20torso%20joint%20as%20the%20root,%20don't%20%0A>%20you%20end%20up%20with%20a%20tree%20structure?%20%20e.g.%0A>%20%0A>%20torso->neck->head%0A>%20torso->left_shoulder->left_elbow->left_hand%0A>%20torso->right_shoulder->right_elbow->right_hand%0A>%20torso->left_hip->left_knee->left_foot%0A>%20torso->right_hip->right_knee->right_foot%0A>%20%0A>%20Maybe%20this%20is%20what%20you%20meant%20by%20it%20depends%20on%20how%20you%20define%20them.%0A>%20%0A>%20--patrick%0A>%20%0A>%20On%2003/26/2011%2012:22%20PM,%20David%20Lu!!%20wrote:%0A>%20>%20It%20depends%20on%20how%20you%20define%20them.%20The%20skeleton%20visualized%20with%20the%20%0A>%20>%20kinect%20(%20%0A>%20>%20http://www.ros.org/wiki/openni_tracker?action=AttachFile&do=get&target=nite.png%20%0A>%20>%20<http://www.ros.org/wiki/openni_tracker?action=AttachFile&do=get&target=nite.png>)%20%0A>%20>%20isn't%20a%20tree,%20although%20it%20could%20be%20converted%20to%20be%20one,%20I%20suppose%0A>%20>%0A>%20>%20On%20Sat,%20Mar%2026,%202011%20at%201:11%20PM,%20Patrick%20Goebel%20<patrick@pirobot.org%20%0A>%20>%20<mailto:patrick@pirobot.org>>%20wrote:%0A>%20>%0A>%20>%0A>%20>%0A>%20>%0A>%20>%0A>%20>>%0A>%20>>%0A>%20>>%0A>%20>>%0A>%20>>%0A>%20>>%0A>%20>>%0A>%20>%0A>%20>%0A>%20 "Reply to this message"){kind=tracking}
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