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I have openni_tracker working. However, I am not sure how I can visualize both point cloud from Kinect as well as the skeleton TF data.

I can visualize Kinect point cloud by setting fixed frame to /camera_link

And I can visualize TF skeleton data by setting fixed frame to /openni_depth_frame.

When I visualize TF data, there is no connection between point cloud related TF and skelecton related TF data. Am I doing something wrong?

How could I align these together?

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Originally posted by jys on ROS Answers with karma: 212 on 2013-02-20

Post score: 1


1 Answer 1


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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


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