types.h

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#pragma once
 
 
#include <map>
#include <optional>
 
#include <Eigen/Core>
 
#include <ArmarXCore/core/time/DateTime.h>
 
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/core/FramedPose.h>
 
namespace armarx::armem::human
{
 
    struct PoseKeypoint
    {
        std::string label;
        float confidence;
 
        armarx::FramedPosition positionCamera;
        std::optional<armarx::FramedOrientation> orientationCamera = std::nullopt;
        std::optional<armarx::FramedPosition> positionRobot = std::nullopt;
        std::optional<armarx::FramedOrientation> orientationRobot = std::nullopt;
        std::optional<armarx::FramedPosition> positionGlobal = std::nullopt;
        std::optional<armarx::FramedOrientation> orientationGlobal = std::nullopt;
    };
 
    struct HumanPose
    {
        std::string poseModelId;
 
        using KeyPointMap = std::map<std::string, PoseKeypoint>;
        KeyPointMap keypoints;
        std::optional<std::string> humanTrackingId = std::nullopt;
        DateTime timestamp;
        std::string cameraFrameName;
    };
 
    struct PoseKeypoint2D
    {
        std::string label;
 
        float confidence;
 
        Eigen::Vector2f position;
    };
 
    struct HumanPose2D
    {
        std::string poseModelId;
        std::map<std::string, PoseKeypoint2D> keypoints;
        std::optional<std::string> humanTrackingId = std::nullopt;
        DateTime timestamp;
        std::string cameraFrameName;
    };
 
    struct FaceRecognition
    {
 
        Eigen::Matrix<float, 3, 1> position3DGlobal;
 
        Eigen::Matrix<int, 2, 1> extents2D;
 
        Eigen::Matrix<int, 2, 1> position2D;
 
        FramedPosition framedPosition3D;
 
        std::optional<armarx::armem::MemoryID> profileID;
    };
 
    struct PersonInstance
    {
        armarx::armem::MemoryID profileID;
        armarx::armem::MemoryID faceRecognitionID;
        armarx::armem::MemoryID poseID;
        Pose pose;
    };
 
 
} // namespace armarx::armem::human