#include <boost/thread/thread.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread/condition.hpp>
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <sensor_msgs/PointCloud.h>
#include <mapping_msgs/PolygonalMap.h>
#include <body_msgs/Hands.h>
#include <sensor_msgs/point_cloud_conversion.h>
#include <pcl_tools/pcl_utils.h>
#include <nnn/nnn.hpp>
#include <pcl_tools/segfast.hpp>
#include "pcl/io/pcd_io.h"
#include "pcl/point_types.h"
#include <pcl/ModelCoefficients.h>
#include <pcl/features/normal_3d.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/passthrough.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <body_msgs/Skeletons.h>
#include <turtlesim/Velocity.h>

Include dependency graph for detect_hands_wskel.cpp:

Classes
struct	HandDetector::calibrationBundle
class	HandDetector
	HandDetector is the main ROS communication class, and its function is just to tye things together. More...
struct	stateMachine
	TimeEvaluator is a nifty function to make benchmarking programs much simpler More...
class	TimeEvaluator
Defines
#define	ABS(A) (((A) < 0) ? (-(A)) : (A))
#define	HANDSTOGETHER 100
#define	HEADPOS 0
#define	LEFT_ELBOWPOS (RIGHT_ELBOWPOS+1)
#define	LEFT_FOOTPOS (RIGHT_KNEEPOS+1)
#define	LEFT_HIPPOS (TORSOPOS+1)
#define	LEFT_KNEEPOS (RIGHT_HIPPOS+1)
#define	LEFT_SHOULDERPOS (RIGHT_SHOULDERPOS+1)
#define	LHANDPOS (HEADPOS+1)
#define	MAX(A, B) ((A) > (B) ? (A) : (B))
#define	MIN(A, B) ((A) < (B) ? (A) : (B))
#define	NECKPOS (RHANDPOS+1)
#define	RHANDPOS (LHANDPOS+1)
#define	RIGHT_ELBOWPOS (LEFT_SHOULDERPOS+1)
#define	RIGHT_FOOTPOS (LEFT_FOOTPOS+1)
#define	RIGHT_HIPPOS (LEFT_HIPPOS+1)
#define	RIGHT_KNEEPOS (LEFT_KNEEPOS+1)
#define	RIGHT_SHOULDERPOS (NECKPOS+1)
#define	SKEL_POINTS (RIGHT_FOOTPOS+1)
#define	TORSOPOS (LEFT_ELBOWPOS+1)
#define	UNDEFINED 99
Functions
pcl::PointXYZ	addVector (const Eigen::Vector4f &_C, geometry_msgs::Point A, geometry_msgs::Vector3 B, double scale)
void	cleanState (stateMachine &state)
geometry_msgs::Point	eigenToMsgPoint (const Eigen::Vector4f &v)
geometry_msgs::Point32	eigenToMsgPoint32 (const Eigen::Vector4f &v)
pcl::PointXYZ	eigenToPclPoint (const Eigen::Vector4f &v)
void	eventState (stateMachine &state, uint a)
void	flipvec (const Eigen::Vector4f &palm, const Eigen::Vector4f &fcentroid, Eigen::Vector4f &dir)
float	gdist (pcl::PointXYZ pt, const Eigen::Vector4f &v)
void	getEigens (body_msgs::Hand &h)
void	getHandCloud (body_msgs::Hand &hand, sensor_msgs::PointCloud2 &fullcloud)
	grabs the correct portion of the point cloud to get the hand cloud
void	getHandPos (body_msgs::Hand &hand, pcl::PointXYZ &hand1, char a)
void	getHandPos (body_msgs::Hand &hand, pcl::PointXYZ &hand1)
void	getHands (body_msgs::Skeleton &skel, sensor_msgs::PointCloud2 &cloud, body_msgs::Hands &handsmsg)
	converts a skeleton + cloud into a hands message, by calling getHandCloud
void	getHands (body_msgs::Skeleton &skel, sensor_msgs::PointCloud2 &cloud, body_msgs::Hands &handsmsg, std::pair< pcl::PointXYZ, pcl::PointXYZ > &var, std::pair< pcl::PointXYZ, pcl::PointXYZ > &shoulders)
bool	isJointGood (body_msgs::SkeletonJoint &joint)
int	main (int argc, char **argv)
bool	pointComparison (pcl::PointXYZ a, pcl::PointXYZ b)
bool	pointComparisonHands (pcl::PointXYZ a, pcl::PointXYZ b)
bool	pointComparisonHead (pcl::PointXYZ a, pcl::PointXYZ b)
template<typename Point1 , typename Point2 >
void	PointConversion (Point1 pt1, Point2 &pt2)
pcl::PointXYZ	pointToPclPoint (geometry_msgs::Point p)
geometry_msgs::Transform	pointToTransform (geometry_msgs::Point p)
Variables
int	CALIB_FLAG = 0
int	DIST_FLAG = 0
int	distCounter = 0
stateMachine	leftState
int	LHAND_FLAG = 0
int	RECOG_FLAG = 1
stateMachine	rightState
int	STATE_BEFORE = -1
int	tRecogCounter = 0
int	turtlePubCounter = 0

Define Documentation

#define ABS ( A ) (((A) < 0) ? (-(A)) : (A))

Definition at line 79 of file detect_hands_wskel.cpp.

#define HANDSTOGETHER 100

Definition at line 112 of file detect_hands_wskel.cpp.

#define HEADPOS 0

Definition at line 90 of file detect_hands_wskel.cpp.

#define LEFT_ELBOWPOS (RIGHT_ELBOWPOS+1)

Definition at line 97 of file detect_hands_wskel.cpp.

#define LEFT_FOOTPOS (RIGHT_KNEEPOS+1)

Definition at line 103 of file detect_hands_wskel.cpp.

#define LEFT_HIPPOS (TORSOPOS+1)

Definition at line 99 of file detect_hands_wskel.cpp.

#define LEFT_KNEEPOS (RIGHT_HIPPOS+1)

Definition at line 101 of file detect_hands_wskel.cpp.

#define LEFT_SHOULDERPOS (RIGHT_SHOULDERPOS+1)

Definition at line 95 of file detect_hands_wskel.cpp.

#define LHANDPOS (HEADPOS+1)

Definition at line 91 of file detect_hands_wskel.cpp.

#define MAX	(	A,
		B
	)	((A) > (B) ? (A) : (B))

Definition at line 77 of file detect_hands_wskel.cpp.

#define MIN	(	A,
		B
	)	((A) < (B) ? (A) : (B))

Definition at line 78 of file detect_hands_wskel.cpp.

#define NECKPOS (RHANDPOS+1)

Definition at line 93 of file detect_hands_wskel.cpp.

#define RHANDPOS (LHANDPOS+1)

Definition at line 92 of file detect_hands_wskel.cpp.

#define RIGHT_ELBOWPOS (LEFT_SHOULDERPOS+1)

Definition at line 96 of file detect_hands_wskel.cpp.

#define RIGHT_FOOTPOS (LEFT_FOOTPOS+1)

Definition at line 104 of file detect_hands_wskel.cpp.

#define RIGHT_HIPPOS (LEFT_HIPPOS+1)

Definition at line 100 of file detect_hands_wskel.cpp.

#define RIGHT_KNEEPOS (LEFT_KNEEPOS+1)

Definition at line 102 of file detect_hands_wskel.cpp.

#define RIGHT_SHOULDERPOS (NECKPOS+1)

Definition at line 94 of file detect_hands_wskel.cpp.

#define SKEL_POINTS (RIGHT_FOOTPOS+1)

Definition at line 108 of file detect_hands_wskel.cpp.

#define TORSOPOS (LEFT_ELBOWPOS+1)

Definition at line 98 of file detect_hands_wskel.cpp.

#define UNDEFINED 99

Definition at line 109 of file detect_hands_wskel.cpp.

Function Documentation

pcl::PointXYZ addVector	(	const Eigen::Vector4f &	_C,
		geometry_msgs::Point	A,
		geometry_msgs::Vector3	B,
		double	scale
	)

Definition at line 258 of file detect_hands_wskel.cpp.

void cleanState ( stateMachine & state )

Definition at line 546 of file detect_hands_wskel.cpp.

geometry_msgs::Point eigenToMsgPoint ( const Eigen::Vector4f & v )

Definition at line 228 of file detect_hands_wskel.cpp.

geometry_msgs::Point32 eigenToMsgPoint32 ( const Eigen::Vector4f & v )

Definition at line 223 of file detect_hands_wskel.cpp.

pcl::PointXYZ eigenToPclPoint ( const Eigen::Vector4f & v )

Definition at line 234 of file detect_hands_wskel.cpp.

void eventState	(	stateMachine &	state,
		uint	a
	)

Definition at line 563 of file detect_hands_wskel.cpp.

void flipvec	(	const Eigen::Vector4f &	palm,
		const Eigen::Vector4f &	fcentroid,
		Eigen::Vector4f &	dir
	)

Definition at line 209 of file detect_hands_wskel.cpp.

float gdist	(	pcl::PointXYZ	pt,
		const Eigen::Vector4f &	v
	)

Definition at line 205 of file detect_hands_wskel.cpp.

void getEigens ( body_msgs::Hand & h )

Definition at line 274 of file detect_hands_wskel.cpp.

void getHandCloud	(	body_msgs::Hand &	hand,
		sensor_msgs::PointCloud2 &	fullcloud
	)

grabs the correct portion of the point cloud to get the hand cloud

Parameters:

the	resultant Hand message with the location of the hand and arm already added. This message is filled out further in this function
fullcloud	the full point cloud from the kinect

Definition at line 312 of file detect_hands_wskel.cpp.

void getHandPos	(	body_msgs::Hand &	hand,
		pcl::PointXYZ &	hand1,
		char	a
	)

Definition at line 361 of file detect_hands_wskel.cpp.

void getHandPos	(	body_msgs::Hand &	hand,
		pcl::PointXYZ &	hand1
	)

Definition at line 381 of file detect_hands_wskel.cpp.

void getHands	(	body_msgs::Skeleton &	skel,
		sensor_msgs::PointCloud2 &	cloud,
		body_msgs::Hands &	handsmsg
	)

converts a skeleton + cloud into a hands message, by calling getHandCloud

Parameters:

skel	the skeleton who's hands we need to find
cloud	the full point cloud from the kinect
handsmsg	the resultant Hands message

Definition at line 404 of file detect_hands_wskel.cpp.

void getHands	(	body_msgs::Skeleton &	skel,
		sensor_msgs::PointCloud2 &	cloud,
		body_msgs::Hands &	handsmsg,
		std::pair< pcl::PointXYZ, pcl::PointXYZ > &	var,
		std::pair< pcl::PointXYZ, pcl::PointXYZ > &	shoulders
	)