#include "ros/ros.h"
#include "visualization_msgs/Marker.h"
#include "visualization_msgs/MarkerArray.h"
#include "leap_motion/Human.h"
#include "leap_motion/Hand.h"
#include "leap_motion/Finger.h"
#include "leap_motion/Bone.h"
#include "Leap.h"
#include <iostream>

Include dependency graph for lmc_visualizer_node.cpp:

Functions
visualization_msgs::Marker	createFingerLines (const leap_motion::Human::ConstPtr &human, std::string hand_ns, std::string finger_ns, unsigned int id, leap_motion::Bone current_bone)
	Adds lines between the tips of the bones. More...

visualization_msgs::Marker	createHandOutline (const leap_motion::Human::ConstPtr &human, std::string hand_ns, unsigned int id, leap_motion::Hand current_hand)
	Creates a representation of palm. More...

visualization_msgs::Marker	createJointMarker (const leap_motion::Human::ConstPtr &human, std::string hand_ns, std::string finger_ns, unsigned int id, geometry_msgs::Pose location)
	Adds circles at the intersection of bones. More...

visualization_msgs::Marker	createPalmPosition (const leap_motion::Human::ConstPtr &human, std::string hand_ns, unsigned int id, geometry_msgs::Point centre_point)
	Represents the midpoint of the palm. More...

void	createVisualization (visualization_msgs::MarkerArray *marker_array, const leap_motion::Human::ConstPtr &human, leap_motion::Hand hand, std::string hand_ns, uint8_t hand_id)
	Creates a visualization of an entire hand from he wrist up. More...

void	frameCallback (const leap_motion::Human::ConstPtr &human)
	Called when a new Human.msg is received. More...

int	main (int argc, char **argv)

Variables
const std::string	fingerNames [] = {"Thumb", "Index", "Middle", "Ring", "Pinky"}

static ros::Publisher *	marker_pub

Function Documentation

visualization_msgs::Marker createFingerLines	(	const leap_motion::Human::ConstPtr &	human,
		std::string	hand_ns,
		std::string	finger_ns,
		unsigned int	id,
		leap_motion::Bone	current_bone
	)

Adds lines between the tips of the bones.

Takes a pointer to human.msg, and a bone.msg. Using that information adds lines between the tips of the bones.

Parameters

human	Pointer to the received Human.msg
hand_ns	Used to create a unique namespace
finger_ns	Used to create a unique namespace
current_bone	The bone that will be represented as a line.

Definition at line 68 of file lmc_visualizer_node.cpp.

visualization_msgs::Marker createHandOutline	(	const leap_motion::Human::ConstPtr &	human,
		std::string	hand_ns,
		unsigned int	id,
		leap_motion::Hand	current_hand
	)

Creates a representation of palm.

Takes a pointer to human.msg, and a hand.msg. Using that information adds draw lines between fingers to create a palm.

Parameters

human	Pointer to the received Human.msg
hand_ns	Used to create a unique namespace
finger_ns	Used to create a unique namespace
current_hand	The hand from which the palm will be created

Definition at line 113 of file lmc_visualizer_node.cpp.

visualization_msgs::Marker createJointMarker	(	const leap_motion::Human::ConstPtr &	human,
		std::string	hand_ns,
		std::string	finger_ns,
		unsigned int	id,
		geometry_msgs::Pose	location
	)

Adds circles at the intersection of bones.

Takes a pointer to human.msg, and a start of a bone. Using that information creates a sphere visualization marker that will later be appended to a marker array.

Parameters

human	Pointer to the received Human.msg
hand_ns	Used to create a unique namespace
finger_ns	Used to create a unique namespace
location	Tip position of a bone object

Definition at line 27 of file lmc_visualizer_node.cpp.

visualization_msgs::Marker createPalmPosition	(	const leap_motion::Human::ConstPtr &	human,
		std::string	hand_ns,
		unsigned int	id,
		geometry_msgs::Point	centre_point
	)

Represents the midpoint of the palm.

Takes a pointer to human.msg, and pose the the centre point of the palm. Using that information creates a sphere at that location.

Parameters

human	Pointer to a received Human.msg
hand_ns	Used to create a unique namespace
id	A unique id to the created marker
centre_point	The palm centre of a hand

Definition at line 225 of file lmc_visualizer_node.cpp.

void createVisualization	(	visualization_msgs::MarkerArray *	marker_array,
		const leap_motion::Human::ConstPtr &	human,
		leap_motion::Hand	hand,
		std::string	hand_ns,
		uint8_t	hand_id
	)

Creates a visualization of an entire hand from he wrist up.

Using the given information calls out different functions to create a visualization of a detected hand for displaying in Rviz.

Parameters

marker_array	An array into which all created markers will be added
human	Pointer to a received Human.msg
hand	A hand.msg from which the hand visualization will be created.
hand_ns	Used to create a unique namespace
hand_id	A unique id to the create markers

Definition at line 268 of file lmc_visualizer_node.cpp.

void frameCallback ( const leap_motion::Human::ConstPtr & human )

Called when a new Human.msg is received.

Parameters

human Pointer to thr received Human.msg

Definition at line 310 of file lmc_visualizer_node.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 330 of file lmc_visualizer_node.cpp.

Variable Documentation

const std::string fingerNames[] = {"Thumb", "Index", "Middle", "Ring", "Pinky"}

Definition at line 14 of file lmc_visualizer_node.cpp.

ros::Publisher* marker_pub

static

Definition at line 13 of file lmc_visualizer_node.cpp.

Functions

Variables

Function Documentation

Variable Documentation