HumanPose.h

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#pragma once
 
 
#include <map>
#include <optional>
#include <string>
#include <SimoxUtility/color/Color.h>
 
#include <RobotAPI/components/ArViz/Client/Layer.h>
 
#include <VisionX/libraries/armem_human/types.h>
 
namespace armarx::viz
{
 
    struct HumanPoseLayers
    {
        viz::Layer& skeleton;
        viz::Layer& frames;
    };
 
    struct DrawingStyle
    {
        int segmentThickness = 20;
        int jointThickness = 30;
        float thinFactor = 1. / 3.;
 
        // if nullopt, then chosen automatically by color scheme
        std::optional<::simox::Color> segmentColor;
        std::optional<::simox::Color> jointColor;
    };
 
    void addPoseToLayer(const armarx::armem::human::HumanPose& pose,
                        HumanPoseLayers& layers,
                        const std::string& prefix,
                        const DrawingStyle& drawingStyle = DrawingStyle());
 
    void addPosesToLayer(const std::map<std::string, armarx::armem::human::HumanPose>& poses,
                         HumanPoseLayers& layers,
                         const std::string& prefix,
                         const DrawingStyle& drawingStyle = DrawingStyle());
 
    namespace generic
    {
        void addPoseToLayer(const armarx::armem::human::HumanPose& pose,
                            HumanPoseLayers& layers,
                            const std::string& prefix,
                            const DrawingStyle& drawingStyle = DrawingStyle());
    }
 
} // namespace armarx::viz