[ros-users] Skeletons

[Patrick Goebel]

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 at pirobot.org 
> <mailto:patrick at 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!!
>>
>>
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>
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