Classes for skeleton.
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Classes for skeleton.
Description
The class Skeleton can be used to deal with skeletons, defined as series of keypoints linked together with a predefined structure. The class Keypoint can be used to deal with single keypoints of the skeleton.
A skeleton can be defined from:
- an ordered list of keypoints, according to the following order:
- 0: shoulder_center
- 1: head
- 2: shoulder_left
- 3: elbow_left
- 4: hand_left
- 5: shoulder_right
- 6: elbow_right
- 7: hand_right
- 8: hip_center
- 9: hip_left
- 10: knee_left
- 11: ankle_left
- 12: foot_left
- 13: hip_right
- 14: knee_right
- 15: ankle_right
- 16: foot_right
- an unordered list of keypoints, where each keypoint is identified by its tag;
- its properties.
- Author
- Ugo Pattacini ugo.p.nosp@m.atta.nosp@m.cini@.nosp@m.iit..nosp@m.it
◆ skeleton_factory()
| Skeleton* assistive_rehab::skeleton_factory |
( |
const yarp::os::Property & |
prop | ) |
|
Populate skeleton from a Property object.
- Parameters
-
| prop | reference to a Property object. |
- Returns
- a pointer to a Skeleton object.
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.
