The easiest solution would be to launch the openni_launch with the camera argument set. See the documentation at the bottom of this page. So the following command
roslaunch openni_launch openni.launch camera:=openni
will set the first word of all of the frames associated with your Kinect to be "openni" instead of "camera". This should merge your tf tree.
Originally posted by jarvisschultz with karma: 9031 on 2013-02-21
This answer was ACCEPTED on the original site
Post score: 2
Original comments
Comment by ctguell on 2013-09-12:
@jarvisschultz would you recommend openni_tracker for people detection?? Or do you know ay good stack that would acommplish people detection? Thanks
Comment by jarvisschultz on 2013-09-12:
@ctguell if all you wanted to do was detect people, you could use openni_tracker, but it might be a bit overkill. If you still wanted to use a depth camera, maybe you could adapt openni_tracker a bit e.g. see the User_NewUser callback in the openni_tracker source.
Comment by Neil Traft on 2014-08-13:
As of 1.7, PCL now has pretty good people detection built in, if that's really what you want (as opposed to human pose estimation). Have a look at this tutorial: http://www.pointclouds.org/documentation/tutorials/ground_based_rgbd_people_detection.php
