PersonInstance.cpp

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#include "PersonInstance.h"
 
#include <ArmarXCore/core/logging/Logging.h>
 
#include <RobotAPI/libraries/armem/client/Reader.h>
 
#include <VisionX/libraries/armem_human/server/face_recognition/Segment.h>
 
namespace armarx
{
    void
    viz::addPersonInstanceToLayer(const armarx::armem::human::FaceRecognition& faceReco,
                                  const std::string& name,
                                  armarx::viz::Layer& personInstanceLayer,
                                  const std::string& prefix)
    {
        ARMARX_TRACE;
        static const int radius = 100;
        armarx::viz::Color color = armarx::viz::Color::fromRGBA(255, 255, 0, 255);
        Eigen::Matrix pos3D = faceReco.position3DGlobal;
        armarx::viz::Sphere facePos = armarx::viz::Sphere("Person instance of " + name)
                                          .position(pos3D.x(), pos3D.y(), pos3D.z())
                                          .radius(radius)
                                          .color(color);
        Eigen::Matrix4f nameTagRotation;
        nameTagRotation << -1, 0, 0, 0, 0, 1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1;
        armarx::viz::Text nameTag =
            armarx::viz::Text("Name of" + name)
                .text(name)
                .scale(15)
                .pose(nameTagRotation)
                .position(pos3D.x(), pos3D.y() + (int)(radius / 2) + 10, pos3D.z());
        personInstanceLayer.add(facePos);
        personInstanceLayer.add(nameTag);
    }
} // namespace armarx