WallFrame Message Descriptions

Below are the message types used in Wallframe:

TrackerUser and TrackerUserArray

These are published by the wallframe_tracker/wallframe_tracker_node.

# TrackerUserArray: This message contains a vector of wallframe_msgs/TrackerUser messages.
wallframe_msgs/TrackerUser[] users
int8 numUsers

# TrackerUser: Contains a snapshot of a single users tracking data. This message contains a openni_msgs/user message with and ID, a vector of frames corresponding to each joint, a vector of confidences corresponding to each joint, and a vector of geometry_msgs/Transform messages corresponding to each joint. 
Header header
uint8 uid
string tracker_id
string[] frames
float64[] confs
geometry_msgs/Transform[] transforms
geometry_msgs/Vector3[] projective
geometry_msgs/Vector3 center_of_mass

WallframeUser and WallframeUserArray

These are published by the wallframe_user/wallframe_user_manager. These are similar to the Tracker messages, but contain more information about the user, such as gesture state. Also, the user ID in WallFrameUser messages are the Wallframe ID not the ID assigned by the tracker, as is the case above.

# WallframeUserArray: Contains a vector of wallframe_msgs/WallFrameUser messages, as well as the number of users and their user IDs.
wallframe_msgs/WallframeUser[] users
uint8[] user_ids
uint8 num_users

# WallframeUser: Contains a snapshot of a single users tracking data.
Header header
uint8 wallframe_id
string[] frame_names
geometry_msgs/Transform[] transforms
geometry_msgs/Vector3[] translations
geometry_msgs/Vector3[] translations_filtered
geometry_msgs/Vector3[] translations_mm
geometry_msgs/Vector3[] translations_body_mm
string workspace_state
bool focused
bool leaving
bool joined
bool hands_together
bool hands_on_head
bool right_elbow_click
bool left_elbow_click
bool right_in_front
bool left_in_front
bool outside_workspace

WallframeUserEvent

These are published by wallframe_user/wallframe_user_manager. The are discrete events which are published once per event, rather than the continuous event state in WallFrameUser.msg. For instance, if a user put their hands together, the continuous value bool hands_together in WallFrameUser.msg would be true while their hands were together. The WallframeUserEvent corresponding to that action would only be sent once.

# WallFrameUserEvent:  a single event from a user (could be a gesture or other discrete action)
Header header
string event_id
uint8 user_id
string message

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