class mrpt::hwdrivers::CSkeletonTracker

Overview

A class for grabbing mrpt::obs::CObservationSkeleton from a PrimeSense camera.

It connects to a PrimeSense camera and tries to detect users while recording the positions of their skeletons’ joints along time.

See also the application “rawlog-grabber” for a ready-to-use application to gather data from this sensor.

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
      driver           = CSkeletonTracker
      sensorLabel      = <label>           ; Label of the sensor
      grab_decimation  = 1                 ; [int] Grab skeletons in 1 out of 'grab_decimation' frames.
   show_preview        = 1                 ; [bool] {0,1} Opens a display window to show the recorded skeleton.
   pose_x          = 0                 ; [double] Sensor 3D position relative to the robot (meters)
   pose_y          = 0
   pose_z          = 0
   pose_yaw            = 0                 ; [double] Angles in degrees
   pose_pitch      = 0
   pose_roll       = 0

#include <mrpt/hwdrivers/CSkeletonTracker.h>

class CSkeletonTracker: public mrpt::hwdrivers::CGenericSensor
{
public:
    // construction

    CSkeletonTracker();

    // methods

    virtual void doProcess();
    virtual void initialize();
    void setPreview(const bool setPreview = true);
};

Inherited Members

public:
    // methods

    CGenericSensor& operator = (const CGenericSensor&);
    virtual void doProcess() = 0;

Construction

CSkeletonTracker()

Constructor.

Methods

virtual void doProcess()

This method will be invoked at a minimum rate of “process_rate” (Hz)

Parameters:

This	method must throw an exception with a descriptive message if some critical error is found.

virtual void initialize()

Connects to the PrimeSense camera and prepares it to get skeleton data.

void setPreview(const bool setPreview = true)

Set/unset preview.