1.kinect人体骨架追踪中有tf树变换,了解tf树的广播和订阅原理,尝试通过订阅在人体骨架跟踪中tf变换广播的骨架关节点位置坐标信息,获取跟踪目标的位置。
$ cd %TOP_DIR_YOUR_CATKIN_WS%/src
$ catkin_create_pkg robot_setup_tf roscpp tf geometry_msgs
src/tf_broadcaster.cpp
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
int main(int argc, char** argv){
ros::init(argc, argv, "robot_tf_publisher");
ros::NodeHandle n;
ros::Rate r(100);
tf::TransformBroadcaster broadcaster;
while(n.ok()){
broadcaster.sendTransform(
tf::StampedTransform(
tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.1, 0.0, 0.2)),
ros::Time::now(),"base_link", "base_laser"));
r.sleep();
}
}
src/tf_listener.cpp
#include <ros/ros.h>
#include <geometry_msgs/PointStamped.h>
#