class mrpt::obs::CObservationSkeleton¶

This class stores a skeleton as tracked by OPENNI2 & NITE2 libraries from PrimeSense sensors.

Class introduced in MRPT 1.3.1

See also:

#include <mrpt/obs/CObservationSkeleton.h>

class CObservationSkeleton: public mrpt::obs::CObservation
{
public:
    // structs

    struct TSkeletonJoint;

    //
fields

    mrpt::poses::CPose3D sensorPose;
    TSkeletonJoint head;
    TSkeletonJoint neck;
    TSkeletonJoint torso;
    TSkeletonJoint left_shoulder;
    TSkeletonJoint left_elbow;
    TSkeletonJoint left_hand;
    TSkeletonJoint left_hip;
    TSkeletonJoint left_knee;
    TSkeletonJoint left_foot;
    TSkeletonJoint right_shoulder;
    TSkeletonJoint right_elbow;
    TSkeletonJoint right_hand;
    TSkeletonJoint right_hip;
    TSkeletonJoint right_knee;
    TSkeletonJoint right_foot;

    //
methods

    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
};

Inherited Members¶

public:
    //
fields

    mrpt::system::TTimeStamp timestamp {mrpt::system::now()};
    std::string sensorLabel;

    //
methods

    mrpt::system::TTimeStamp getTimeStamp() const;
    virtual mrpt::system::TTimeStamp getOriginalReceivedTimeStamp() const;
    virtual void load() const;
    virtual void unload();

    template <class METRICMAP>
    bool insertObservationInto(
        METRICMAP* theMap,
        const mrpt::poses::CPose3D* robotPose = nullptr
        ) const;

    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const = 0;
    void getSensorPose(mrpt::math::TPose3D& out_sensorPose) const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) = 0;
    void setSensorPose(const mrpt::math::TPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
    std::string getDescriptionAsTextValue() const;

Fields¶

mrpt::poses::CPose3D sensorPose

The pose of the sensor on the robot.

TSkeletonJoint head

The skeleton joints (15)

Methods¶

virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.