types.h
Go to the documentation of this file.
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#pragma once
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#include <map>
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#include <optional>
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#include <Eigen/Core>
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#include <
ArmarXCore/core/time/DateTime.h
>
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#include <
RobotAPI/libraries/core/FramedPose.h
>
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namespace
armarx::armem::human
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{
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struct
PoseKeypoint
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{
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std::string
label
;
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float
confidence
;
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armarx::FramedPosition
positionCamera
;
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std::optional<armarx::FramedOrientation>
orientationCamera
= std::nullopt;
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std::optional<armarx::FramedPosition>
positionRobot
= std::nullopt;
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std::optional<armarx::FramedOrientation>
orientationRobot
= std::nullopt;
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std::optional<armarx::FramedPosition>
positionGlobal
= std::nullopt;
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std::optional<armarx::FramedOrientation>
orientationGlobal
= std::nullopt;
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};
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struct
HumanPose
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{
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std::string
poseModelId
;
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using
KeyPointMap
= std::map<std::string, PoseKeypoint>;
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KeyPointMap
keypoints
;
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std::optional<std::string>
humanTrackingId
= std::nullopt;
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DateTime
timestamp
;
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std::string
cameraFrameName
;
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};
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struct
PoseKeypoint2D
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{
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std::string
label
;
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float
confidence
;
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Eigen::Vector2f
position
;
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};
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struct
HumanPose2D
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{
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std::string
poseModelId
;
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std::map<std::string, PoseKeypoint2D>
keypoints
;
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std::optional<std::string>
humanTrackingId
= std::nullopt;
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DateTime
timestamp
;
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std::string
cameraFrameName
;
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};
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}
// namespace armarx::armem::human
armarx::armem::human::PoseKeypoint2D::label
std::string label
Definition:
types.h:42
DateTime.h
armarx::armem::human::PoseKeypoint::orientationGlobal
std::optional< armarx::FramedOrientation > orientationGlobal
Definition:
types.h:26
armarx::armem::human::HumanPose2D
Definition:
types.h:49
armarx::armem::human::PoseKeypoint::label
std::string label
Definition:
types.h:18
armarx::armem::human::HumanPose2D::humanTrackingId
std::optional< std::string > humanTrackingId
Definition:
types.h:53
armarx::armem::human::HumanPose2D::timestamp
DateTime timestamp
Definition:
types.h:54
armarx::armem::human::HumanPose2D::poseModelId
std::string poseModelId
Definition:
types.h:51
armarx::armem::human::HumanPose2D::keypoints
std::map< std::string, PoseKeypoint2D > keypoints
Definition:
types.h:52
armarx::armem::human::HumanPose2D::cameraFrameName
std::string cameraFrameName
Definition:
types.h:55
armarx::armem::human::PoseKeypoint2D::confidence
float confidence
Definition:
types.h:44
armarx::armem::human::HumanPose::poseModelId
std::string poseModelId
Definition:
types.h:31
armarx::armem::human::PoseKeypoint::positionRobot
std::optional< armarx::FramedPosition > positionRobot
Definition:
types.h:23
armarx::armem::human::PoseKeypoint
Definition:
types.h:16
FramedPose.h
armarx::armem::human::HumanPose::timestamp
DateTime timestamp
Definition:
types.h:36
armarx::FramedPosition
The FramedPosition class.
Definition:
FramedPose.h:142
armarx::armem::human::HumanPose::cameraFrameName
std::string cameraFrameName
Definition:
types.h:37
armarx::armem::human::PoseKeypoint::confidence
float confidence
Definition:
types.h:19
armarx::armem::human::PoseKeypoint::orientationRobot
std::optional< armarx::FramedOrientation > orientationRobot
Definition:
types.h:24
armarx::armem::human::PoseKeypoint::positionCamera
armarx::FramedPosition positionCamera
Definition:
types.h:21
armarx::armem::human::PoseKeypoint2D
Definition:
types.h:40
armarx::armem::human::PoseKeypoint::orientationCamera
std::optional< armarx::FramedOrientation > orientationCamera
Definition:
types.h:22
armarx::armem::human::HumanPose::KeyPointMap
std::map< std::string, PoseKeypoint > KeyPointMap
Definition:
types.h:33
armarx::armem::human::PoseKeypoint2D::position
Eigen::Vector2f position
Definition:
types.h:46
armarx::armem::human::HumanPose
Definition:
types.h:29
armarx::armem::human::HumanPose::humanTrackingId
std::optional< std::string > humanTrackingId
Definition:
types.h:35
armarx::core::time::DateTime
Represents a point in time.
Definition:
DateTime.h:24
armarx::armem::human::PoseKeypoint::positionGlobal
std::optional< armarx::FramedPosition > positionGlobal
Definition:
types.h:25
armarx::armem::human::HumanPose::keypoints
KeyPointMap keypoints
Definition:
types.h:34
armarx::armem::human
Definition:
aron_conversions.cpp:15
VisionX
libraries
armem_human
types.h
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