CObservationSkeleton.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/serialization/CSerializable.h>

namespace mrpt::obs
{
/** This class stores a skeleton as tracked by OPENNI2 & NITE2 libraries from
 * PrimeSense sensors
 *
 * \sa CObservation
 * \note Class introduced in MRPT 1.3.1
 * \ingroup mrpt_obs_grp
 */
class CObservationSkeleton : public CObservation
{
    DEFINE_SERIALIZABLE(CObservationSkeleton, mrpt::obs)

   public:
    /** Constructor.
     */
    CObservationSkeleton()
        : sensorPose(),
          head(),
          neck(),
          torso(),
          left_shoulder(),
          left_elbow(),
          left_hand(),
          left_hip(),
          left_knee(),
          left_foot(),
          right_shoulder(),
          right_elbow(),
          right_hand(),
          right_hip(),
          right_knee(),
          right_foot()
    {
    }

    /** Destructor
     */
    ~CObservationSkeleton() override = default;
    /** The pose of the sensor on the robot. */
    mrpt::poses::CPose3D sensorPose;

    /** A generic joint for the skeleton observation */
    struct TSkeletonJoint
    {
        /** Default constructor */
        TSkeletonJoint() = default;
        /** 3D position */
        double x{.0}, y{.0}, z{.0};
        /** Confidence value [0...1] */
        double conf{.0};
    };

    /** The skeleton joints (15)*/
    TSkeletonJoint head, neck, torso, left_shoulder, left_elbow, left_hand,
        left_hip, left_knee, left_foot, right_shoulder, right_elbow, right_hand,
        right_hip, right_knee, right_foot;

    void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const override
    {
        out_sensorPose = sensorPose;
    }
    void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) override
    {
        sensorPose = newSensorPose;
    }
    void getDescriptionAsText(std::ostream& o) const override;

};  // End of class def.

}  // namespace mrpt::obs