Hi there!<br><br>That indeed looks like a tree to me.<br>I would be interested in the use cases you have in mind for these skeleton messages.<br>What information would you like to gather in those messages?<br>Poses of the tracked frames, interconnections of each frame, also distances between the connected frames?<br>
<br>I don't have deep knowledge about the processing of the KInect or the openni_tracker. I'm currently just using the transforms. But I think there are simplifications made for some frames, which could be useful to take into account. For example, I think the neck is always half way between the left and right shoulder, and the head is always on top of it. Things like that might be interesting as well to keep in the message, so that one can easily reproduce the previously mentioned skeleton - if that is one of the use cases.<br>
<br>Best regards,<br><br>:-) Marcus<br><br><br><br><div class="gmail_quote">2011/3/26 Patrick Goebel <span dir="ltr"><<a href="mailto:patrick@pirobot.org" target="_blank">patrick@pirobot.org</a>></span><br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
<div text="#000000" bgcolor="#ffffff">
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.<br>
<br>
torso->neck->head<br>
torso->left_shoulder->left_elbow->left_hand<br>
torso->right_shoulder->right_elbow->right_hand<br>
torso->left_hip->left_knee->left_foot<br>
torso->right_hip->right_knee->right_foot<br>
<br>
Maybe this is what you meant by it depends on how you define them.<br><font color="#888888">
<br>
--patrick</font><div><div></div><div><br>
<br>
On 03/26/2011 12:22 PM, David Lu!! wrote:
<blockquote type="cite">It depends on how you define them. The skeleton
visualized with the kinect (
<a href="http://www.ros.org/wiki/openni_tracker?action=AttachFile&do=get&target=nite.png" target="_blank">http://www.ros.org/wiki/openni_tracker?action=AttachFile&do=get&target=nite.png</a>)
isn't a tree, although it could be converted to be one, I suppose <br>
<br>
<div class="gmail_quote">On Sat, Mar 26, 2011 at 1:11 PM, Patrick
Goebel <span dir="ltr"><<a href="mailto:patrick@pirobot.org" target="_blank">patrick@pirobot.org</a>></span>
wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
<div text="#000000" bgcolor="#ffffff"> Hi David,<br>
<br>
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...<br>
<br>
--patrick
<div>
<div><br>
<br>
On 03/22/2011 04:17 PM, David Lu!! wrote: </div>
</div>
<blockquote type="cite">
<div>
<div>Hey Ros-users-
<div><br>
</div>
<div>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. </div>
<div><br>
</div>
<div>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). </div>
<div> <a href="http://www.ros.org/doc/api/pi_tracker/html/msg/Skeleton.html" target="_blank">http://www.ros.org/doc/api/pi_tracker/html/msg/Skeleton.html</a></div>
<div><br>
</div>
<div>It might be good to have for not only the Kinect,
but for other motion capture rigs (Vicon and the
like). </div>
<div><br>
</div>
<div>Are there any other similar message out there?</div>
<div><br>
</div>
<div>-David!!</div>
</div>
</div>
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