assistive_rehab::SkeletonStd Class Reference

Basic class for skeleton standard. More...

#include <skeleton.h>

Inheritance diagram for assistive_rehab::SkeletonStd:

Public Member Functions
	SkeletonStd ()
	Default constructor.
bool	update_planes () override
	Update skeleton planes. More...
const std::string &	getType () const
	Return a reference to the type of the skeleton. More...
void	setTag (const std::string &tag)
	Set the tag of the skeleton. More...
const std::string &	getTag () const
	Return a reference to the tag of the skeleton. More...
bool	setTransformation (const yarp::sig::Matrix &T)
	Set a new transformation matrix of the skeleton. More...
const yarp::sig::Matrix &	getTransformation () const
	Retrieve the transformation matrix of the skeleton. More...
bool	setCoronal (const yarp::sig::Vector &coronal)
	Set a new coronal plane to the skeleton. More...
bool	setSagittal (const yarp::sig::Vector &sagittal)
	Set a new sagittal plane to the skeleton. More...
bool	setTransverse (const yarp::sig::Vector &transverse)
	Set a new transverse plane to the skeleton. More...
yarp::sig::Vector	getCoronal () const
	Retrieve the coronal plane of the skeleton. More...
yarp::sig::Vector	getSagittal () const
	Retrieve the sagittal plane of the skeleton. More...
yarp::sig::Vector	getTransverse () const
	Retrieve the transverse plane of the skeleton. More...
double	getMaxPath () const
	Retrieve the skeleton's maximum path. More...
virtual yarp::os::Property	toProperty ()
	Export the skeleton structure as a property. More...
virtual void	fromProperty (const yarp::os::Property &prop)
	Import the skeleton structure from its properties. More...
unsigned int	getNumKeyPoints () const
	Retrieve the number of keypoints of the skeleton. More...
int	getNumFromKey (const std::string &tag) const
	Retrieve the index of the keypoint from its tag. More...
const KeyPoint *	operator[] (const std::string &tag) const
	Keypoint access. More...
const KeyPoint *	operator[] (const unsigned int i) const
	Keypoint access. More...
virtual void	update ()
	Update skeleton.
virtual void	update (const std::vector< yarp::sig::Vector > &ordered)
	Update skeleton from ordered list. More...
virtual void	update (const std::vector< std::pair< std::string, yarp::sig::Vector >> &unordered)
	Update skeleton from unordered list. More...
virtual void	update (const yarp::os::Property &prop)
	Update skeleton from properties. More...
virtual void	update_withpixels (const std::vector< std::pair< yarp::sig::Vector, yarp::sig::Vector >> &ordered)
	Update skeleton from ordered list. More...
virtual void	update_withpixels (const std::vector< std::pair< std::string, std::pair< yarp::sig::Vector, yarp::sig::Vector >>> &unordered)
	Update skeleton from unordered list. More...
virtual std::vector< yarp::sig::Vector >	get_ordered () const
	Retrieve the ordered list of keypoints. More...
virtual std::vector< std::pair< std::string, yarp::sig::Vector > >	get_unordered () const
	Retrieve the unordered list of keypoints. More...
virtual std::vector< std::pair< yarp::sig::Vector, yarp::sig::Vector > >	get_ordered_withpixels () const
	Retrieve the ordered list of keypoints. More...
virtual std::vector< std::pair< std::string, std::pair< yarp::sig::Vector, yarp::sig::Vector > > >	get_unordered_withpixels () const
	Retrieve the unordered list of keypoints. More...
void	normalize (const double n=1.0)
	Normalize skeleton in order to have unitary/desired distance among keypoints. More...
void	scale (const double s)
	Rescale skeleton. More...
void	print (std::ostream &os=std::cout) const
	Print skeleton information.

Protected Member Functions
yarp::os::Property	helper_toproperty (KeyPoint *k) const
void	helper_fromproperty (yarp::os::Bottle *prop, KeyPoint *parent)
void	helper_updatefromproperty (yarp::os::Bottle *prop)
void	helper_normalize (KeyPoint *k, const std::vector< yarp::sig::Vector > &helperpoints, const double n)
void	helper_scale (KeyPoint *k, const std::vector< yarp::sig::Vector > &helperpoints, const double s)
double	helper_getmaxpath (KeyPoint *k, std::vector< bool > &visited) const

Protected Attributes
std::string	type
	skeleton's type ("assistive_rehab::SkeletonStd")
std::string	tag
	skeleton's tag
std::vector< KeyPoint * >	keypoints
	vector of pointer to KeyPoint
std::unordered_map< std::string, KeyPoint * >	tag2key
	map associating a tag to a pointer to a KeyPoint
std::unordered_map< KeyPoint *, unsigned int >	key2id
	map associating a pointer to a KeyPoint to an index
yarp::sig::Matrix	T
	transformation matrix
yarp::sig::Vector	coronal
	vector containing the normal to the coronal plane
yarp::sig::Vector	sagittal
	vector containing the normal to the sagittal plane
yarp::sig::Vector	transverse
	vector containing the normal to the transverse plane

Detailed Description

Basic class for skeleton standard.

Definition at line 528 of file skeleton.h.

Member Function Documentation

fromProperty()

void Skeleton::fromProperty ( const yarp::os::Property &  prop )

virtualinherited

Import the skeleton structure from its properties.

Parameters

prop	Property object containing the properties of a skeleton.

Available properties are:

• type: string containing skeleton's type ("assistive_rehab::SkeletonStd").
• tag: string containing skeleton's tag.
• transformation: 4 x 4 skeleton's roto-translation matrix.
• coronal: vector containing skeleton's coronal plane.
• sagittal: vector containing skeleton's sagittal plane.
• transverse: vector containing skeleton's transverse plane.
• skeleton: list containing keypoints with the following subproperties:
  • tag: string containing keypoint's tag.
  • status: string containing keypoint's status (updated or stale).
  • position: vector containing keypoint's camera coordinates x,y,z.
  • pixel: vector containing keypoint's image coordinates u,v.
  • child: list containing keypoint's child, specified as position, status, tag.

Definition at line 400 of file skeleton.cpp.

{
    for (auto &k:keypoints)
        delete k;
 
    keypoints.clear();
    tag2key.clear();
    key2id.clear();
 
    tag=prop.check("tag",Value("")).asString();
    if (prop.check("transformation"))
    {
        if (Bottle *b=prop.find("transformation").asList())
            b->write(T);
    }
    else
        T=eye(4,4);
 
    coronal=sagittal=transverse=zeros(3);
    if (prop.check("coronal"))
        if (Bottle *b=prop.find("coronal").asList())
            b->write(coronal);
    if (prop.check("sagittal"))
        if (Bottle *b=prop.find("sagittal").asList())
            b->write(sagittal);
    if (prop.check("transverse"))
        if (Bottle *b=prop.find("transverse").asList())
            b->write(transverse);
    helper_fromproperty(prop.find("skeleton").asList(),nullptr);
}

References assistive_rehab::Skeleton::coronal, assistive_rehab::Skeleton::key2id, assistive_rehab::Skeleton::keypoints, assistive_rehab::Skeleton::sagittal, assistive_rehab::Skeleton::T, assistive_rehab::Skeleton::tag, assistive_rehab::Skeleton::tag2key, and assistive_rehab::Skeleton::transverse.

get_ordered()

vector< Vector > Skeleton::get_ordered ( ) const

virtualinherited

Retrieve the ordered list of keypoints.

Returns

vector containing the ordered list of keypoints, each specified as vector containing the x,y,z camera coordinates.

Definition at line 581 of file skeleton.cpp.

{
    vector<Vector> ordered;
    for (auto &k:keypoints)
        ordered.push_back(k->getPoint());
    return ordered;
}

References assistive_rehab::KeyPoint::getPoint(), and assistive_rehab::Skeleton::keypoints.

get_ordered_withpixels()

vector< pair< Vector, Vector > > Skeleton::get_ordered_withpixels ( ) const

virtualinherited

Retrieve the ordered list of keypoints.

Returns

vector containing the ordered list of keypoints, each specified as a pair of vectors with x,y,z and u,v coordinates.

Definition at line 597 of file skeleton.cpp.

{
    vector<pair<Vector,Vector>> ordered;
    for (auto &k:keypoints)
        ordered.push_back(make_pair(k->getPoint(),k->getPixel()));
    return ordered;
}

References assistive_rehab::KeyPoint::getPixel(), assistive_rehab::KeyPoint::getPoint(), and assistive_rehab::Skeleton::keypoints.

get_unordered()

vector< pair< string, Vector > > Skeleton::get_unordered ( ) const

virtualinherited

Retrieve the unordered list of keypoints.

Returns

vector containing an unordered list of keypoints, each specified as pair which associates a string, containing the keypoint's tag, and a vector, containing the x,y,z camera coordinates.

Definition at line 589 of file skeleton.cpp.

{
    vector<pair<string,Vector>> unordered;
    for (auto &it:tag2key)
        unordered.push_back(make_pair(it.first,it.second->getPoint()));
    return unordered;
}

References assistive_rehab::Skeleton::tag2key.

get_unordered_withpixels()

vector< pair< string, pair< Vector, Vector > > > Skeleton::get_unordered_withpixels ( ) const

virtualinherited

Retrieve the unordered list of keypoints.

Returns

vector containing an unordered list of keypoints, each specified as pair that associates a string containing the keypoint's tag to a pair of vectors of x,y,z and u,v coordinates.

Definition at line 605 of file skeleton.cpp.

{
    vector<pair<string,pair<Vector,Vector>>> unordered;
    for (auto &it:tag2key)
        unordered.push_back(make_pair(it.first,make_pair(it.second->getPoint(),it.second->getPixel())));
    return unordered;
}

References assistive_rehab::Skeleton::tag2key.

getCoronal()

Vector Skeleton::getCoronal ( ) const

inherited

Retrieve the coronal plane of the skeleton.

Returns

vector containing x,y,z coordinates of the normal to skeleton's coronal plane.

Definition at line 340 of file skeleton.cpp.

{
    return coronal;
}

References assistive_rehab::Skeleton::coronal.

getMaxPath()

double Skeleton::getMaxPath ( ) const

inherited

Retrieve the skeleton's maximum path.

Returns

skeleton's maximum path.

Definition at line 355 of file skeleton.cpp.

{
    Vector paths(1,0.0);
    for (auto &k:keypoints)
    {
        vector<bool> visited(getNumKeyPoints(),false);
        paths.push_back(helper_getmaxpath(k,visited));
    }
    return findMax(paths);
}

References assistive_rehab::Skeleton::getNumKeyPoints(), and assistive_rehab::Skeleton::keypoints.

getNumFromKey()

int Skeleton::getNumFromKey ( const std::string &  tag ) const

inherited

Retrieve the index of the keypoint from its tag.

Parameters

tag	string containing the keypoint's tag.

Returns

skeleton's number of keypoints.

Definition at line 431 of file skeleton.cpp.

{
    auto it1=tag2key.find(tag);
    if (it1!=tag2key.end())
    {
        auto it2=key2id.find(it1->second);
        if (it2!=key2id.end())
            return (int)it2->second;
    }
    return -1;
}

References assistive_rehab::Skeleton::key2id, assistive_rehab::Skeleton::tag, and assistive_rehab::Skeleton::tag2key.

getNumKeyPoints()

unsigned int assistive_rehab::Skeleton::getNumKeyPoints ( ) const

inlineinherited

Retrieve the number of keypoints of the skeleton.

Returns

skeleton's number of keypoints.

Definition at line 383 of file skeleton.h.

{ return (unsigned int)keypoints.size(); }

References assistive_rehab::Skeleton::keypoints.

Referenced by assistive_rehab::Skeleton::getMaxPath().

getSagittal()

Vector Skeleton::getSagittal ( ) const

inherited

Retrieve the sagittal plane of the skeleton.

Returns

vector containing the x,y,z coordinates of the normal skeleton's sagittal plane.

Definition at line 345 of file skeleton.cpp.

{
    return sagittal;
}

References assistive_rehab::Skeleton::sagittal.

getTag()

const std::string& assistive_rehab::Skeleton::getTag ( ) const

inlineinherited

Return a reference to the tag of the skeleton.

Returns

reference to a string containing the skeleton's tag.

Definition at line 278 of file skeleton.h.

{ return tag; }

References assistive_rehab::Skeleton::tag.

getTransformation()

const yarp::sig::Matrix& assistive_rehab::Skeleton::getTransformation ( ) const

inlineinherited

Retrieve the transformation matrix of the skeleton.

Returns

reference to the skeleton's transformation matrix.

Note

if the transformation matrix is the identity matrix, keypoints are defined with respect to the camera.

Definition at line 291 of file skeleton.h.

{ return T; }

References assistive_rehab::Skeleton::T.

getTransverse()

Vector Skeleton::getTransverse ( ) const

inherited

Retrieve the transverse plane of the skeleton.

Returns

vector containing the x,y,z coordinates of the normal skeleton's sagittal plane.

Definition at line 350 of file skeleton.cpp.

{
    return transverse;
}

References assistive_rehab::Skeleton::transverse.

getType()

const std::string& assistive_rehab::Skeleton::getType ( ) const

inlineinherited

Return a reference to the type of the skeleton.

Returns

reference to the skeleton's type.

Definition at line 266 of file skeleton.h.

{ return type; }

References assistive_rehab::Skeleton::type.

normalize()

void Skeleton::normalize ( const double  n = 1.0 )

inherited

Normalize skeleton in order to have unitary/desired distance among keypoints.

Parameters

n	double containing the normalization factor.

Definition at line 613 of file skeleton.cpp.

{
    if (keypoints.size()>0)
    {
        vector<Vector> helperpoints;
        for (auto &k:keypoints)
            helperpoints.push_back(k->getPoint());
        helper_normalize(keypoints[0],helperpoints,n);
    }
}

References assistive_rehab::KeyPoint::getPoint(), and assistive_rehab::Skeleton::keypoints.

operator[]() [1/2]

const KeyPoint* assistive_rehab::Skeleton::operator[] ( const std::string &  tag ) const

inherited

Keypoint access.

Returns a pointer to the keypoint specified by its tag.

Parameters

tag	string containing the keypoint's tag.

Returns

a (const) pointer to the keypoint.

operator[]() [2/2]

const KeyPoint * Skeleton::operator[] ( const unsigned int  i ) const

inherited

Keypoint access.

Returns a pointer to the keypoint specified by its index.

Parameters

i	int containing the keypoint's index.

Returns

a (const) pointer to the keypoint.

Definition at line 449 of file skeleton.cpp.

{
    return (i<keypoints.size())?keypoints[i]:nullptr;
}

References assistive_rehab::Skeleton::keypoints.

scale()

void Skeleton::scale ( const double  s )

inherited

Rescale skeleton.

Parameters

s	double containing the scaling factor.

Definition at line 624 of file skeleton.cpp.

{
    if (keypoints.size()>0)
    {
        vector<Vector> helperpoints;
        for (auto &k:keypoints)
            helperpoints.push_back(k->getPoint());
        helper_scale(keypoints[0],helperpoints,s);
    }
}

References assistive_rehab::KeyPoint::getPoint(), and assistive_rehab::Skeleton::keypoints.

setCoronal()

bool Skeleton::setCoronal ( const yarp::sig::Vector &  coronal )

inherited

Set a new coronal plane to the skeleton.

Parameters

coronal

vector containing the x,y,z coordinates of the normal to the desired plane.

Definition at line 307 of file skeleton.cpp.

{
    if (coronal.length()>=3)
    {
        this->coronal=coronal.subVector(0,2);
        return true;
    }
    else
        return false;
}

References assistive_rehab::Skeleton::coronal.

setSagittal()

bool Skeleton::setSagittal ( const yarp::sig::Vector &  sagittal )

inherited

Set a new sagittal plane to the skeleton.

Parameters

sagittal

vector containing the x,y,z coordinates of the normal to the desired plane.

Definition at line 318 of file skeleton.cpp.

{
    if (sagittal.length()>=3)
    {
        this->sagittal=sagittal.subVector(0,2);
        return true;
    }
    else
        return false;
}

References assistive_rehab::Skeleton::sagittal.

setTag()

void assistive_rehab::Skeleton::setTag ( const std::string &  tag )

inlineinherited

Set the tag of the skeleton.

Parameters

tag	string containing the desired tag.

Definition at line 272 of file skeleton.h.

{ this->tag=tag; }

References assistive_rehab::Skeleton::tag.

setTransformation()

bool Skeleton::setTransformation ( const yarp::sig::Matrix &  T )

inherited

Set a new transformation matrix of the skeleton.

Parameters

T	matrix containing the desired transformation.

Definition at line 296 of file skeleton.cpp.

{
    if ((T.rows()>=4) || (T.cols()>=4))
    {
        this->T=T.submatrix(0,3,0,3);
        return true;
    }
    else
        return false;
}

References assistive_rehab::Skeleton::T.

setTransverse()

bool Skeleton::setTransverse ( const yarp::sig::Vector &  transverse )

inherited

Set a new transverse plane to the skeleton.

Parameters

transverse

vector containing the x,y,z coordinates of the normal to the desired plane.

Definition at line 329 of file skeleton.cpp.

{
    if (transverse.length()>=3)
    {
        this->transverse=transverse.subVector(0,2);
        return true;
    }
    else
        return false;
}

References assistive_rehab::Skeleton::transverse.

toProperty()

Property Skeleton::toProperty ( )

virtualinherited

Export the skeleton structure as a property.

Returns

a Property object containing the properties of a skeleton.

Available properties are:

• type: string containing skeleton's type ("assistive_rehab::SkeletonStd").
• tag: string containing skeleton's tag.
• transformation: 4 x 4 skeleton's roto-translation matrix.
• coronal: vector containing skeleton's coronal plane.
• sagittal: vector containing skeleton's sagittal plane.
• transverse: vector containing skeleton's transverse plane.
• skeleton: list containing keypoints with the following subproperties:
  • tag: string containing keypoint's tag.
  • status: string containing keypoint's status (updated or stale).
  • position: vector containing keypoint's camera coordinates x,y,z.
  • pixel: vector containing keypoint's image coordinates u,v.
  • child: list containing keypoint's child, specified as position, status, tag.

Definition at line 366 of file skeleton.cpp.

{
    Property prop;
    prop.put("type",type);
    prop.put("tag",tag);
 
    Bottle transformation;
    transformation.addList().read(T);
    prop.put("transformation",transformation.get(0));
 
    Bottle plane;
    plane.addList().read(coronal);
    prop.put("coronal",plane.get(0));
 
    plane.clear();
    plane.addList().read(sagittal);
    prop.put("sagittal",plane.get(0));
 
    plane.clear();
    plane.addList().read(transverse);
    prop.put("transverse",plane.get(0));
 
    Bottle skeleton;
    Bottle &skeleton_=skeleton.addList();
    if (keypoints.size()>0)
    {
        Property p=helper_toproperty(keypoints[0]);
        skeleton_.addList().read(p);
    }
    prop.put("skeleton",skeleton.get(0));
 
    return prop;
}

References assistive_rehab::Skeleton::coronal, assistive_rehab::Skeleton::keypoints, assistive_rehab::Skeleton::sagittal, assistive_rehab::Skeleton::T, assistive_rehab::Skeleton::tag, assistive_rehab::Skeleton::transverse, and assistive_rehab::Skeleton::type.

update() [1/3]

virtual void assistive_rehab::Skeleton::update ( const std::vector< std::pair< std::string, yarp::sig::Vector >> &  unordered )

virtualinherited

Update skeleton from unordered list.

Parameters

unordered

vector containing an unordered list of keypoints. The single keypoint is specified as pair which associates a string, containing the keypoint's tag, and a vector, containing the x,y,z coordinates.

update() [2/3]

virtual void assistive_rehab::Skeleton::update ( const std::vector< yarp::sig::Vector > &  ordered )

virtualinherited

Update skeleton from ordered list.

Parameters

ordered

vector containing the ordered list of keypoints. The single keypoint is specified as vector containing the x,y,z coordinates.

update() [3/3]

virtual void assistive_rehab::Skeleton::update ( const yarp::os::Property &  prop )

virtualinherited

Update skeleton from properties.

Parameters

prop	a Property object containing skeleton information.

Available properties are:

• type: string containing skeleton's type ("assistive_rehab::SkeletonStd").
• tag: string containing skeleton's tag.
• transformation: 4 x 4 skeleton's roto-translation matrix.
• coronal: vector containing skeleton's coronal plane.
• sagittal: vector containing skeleton's sagittal plane.
• transverse: vector containing skeleton's transverse plane.
• skeleton: list containing keypoints with the following subproperties:
  • tag: string containing keypoint's tag.
  • status: string containing keypoint's status (updated or stale).
  • position: vector containing keypoint's camera coordinates x,y,z.
  • pixel: vector containing keypoint's image coordinates u,v.
  • child: list containing keypoint's child, specified as position, status, tag.

update_planes()

bool SkeletonStd::update_planes ( )

overridevirtual

Update skeleton planes.

Returns

true/false on success/failure (failure occurs if not all planes are updated).

Implements assistive_rehab::Skeleton.

Definition at line 767 of file skeleton.cpp.

{
    int cnt=0;
    if (tag2key[KeyPointTag::shoulder_left]->isUpdated() &&
        tag2key[KeyPointTag::shoulder_right]->isUpdated())
    {
        sagittal=tag2key[KeyPointTag::shoulder_left]->getPoint()-
                 tag2key[KeyPointTag::shoulder_right]->getPoint();
        double n=norm(sagittal);
        if (n>0.0)
            sagittal/=n;
        cnt++;
    }
 
    if (tag2key[KeyPointTag::shoulder_center]->isUpdated() &&
        tag2key[KeyPointTag::hip_center]->isUpdated())
    {
        transverse=tag2key[KeyPointTag::shoulder_center]->getPoint()-
                   tag2key[KeyPointTag::hip_center]->getPoint();
        double n=norm(transverse);
        if (n>0.0)
            transverse/=n;
        cnt++;
    }
 
    coronal=cross(sagittal,transverse);
    return (cnt>=2);
}

References assistive_rehab::Skeleton::coronal, assistive_rehab::Skeleton::sagittal, assistive_rehab::Skeleton::tag2key, and assistive_rehab::Skeleton::transverse.

update_withpixels() [1/2]

virtual void assistive_rehab::Skeleton::update_withpixels ( const std::vector< std::pair< std::string, std::pair< yarp::sig::Vector, yarp::sig::Vector >>> &  unordered )

virtualinherited

Update skeleton from unordered list.

Parameters

unordered

vector containing an unordered list of keypoints. The single keypoint is specified as pair that associates a string containing the keypoint's tag to a pair of vectors contianing x,y,z and u,v coordinates.

update_withpixels() [2/2]

virtual void assistive_rehab::Skeleton::update_withpixels ( const std::vector< std::pair< yarp::sig::Vector, yarp::sig::Vector >> &  ordered )

virtualinherited

Update skeleton from ordered list.

Parameters

ordered

vector containing the ordered list of keypoints. The single keypoint is specified as a pair of a vector containing the x,y,z camera coordinates and a vector containing the u,v image coordinates.

---

The documentation for this class was generated from the following files:

• /home/runner/work/assistive-rehab/assistive-rehab/gh-pages/lib/include/AssistiveRehab/skeleton.h
• /home/runner/work/assistive-rehab/assistive-rehab/gh-pages/lib/src/skeleton.cpp