util.h

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#pragma once
 
#include <optional>
#include <string>
#include <vector>
 
#include <Eigen/Geometry>
 
#include <ArmarXCore/core/application/properties/forward_declarations.h>
 
#include "types.h"
 
namespace armarx::armem::human
{
    enum KeyPointCoordinateSystem
    {
        Camera,
        Global,
        GlobalFloorProjection,
        Robot
    };
 
    std::optional<Eigen::Vector3f>
    computeMeanPosition(const HumanPose& humanPose,
                        KeyPointCoordinateSystem coordSystem = KeyPointCoordinateSystem::Camera);
 
    struct NearestHumanParameters
    {
        struct Properties
        {
            Eigen::Vector3f positionMM = Eigen::Vector3f::Zero();
            KeyPointCoordinateSystem coordSystem = KeyPointCoordinateSystem::Camera;
            double distanceThresholdMM = -1.0;
            std::string modelIDs = std::string();
 
            void addTo(armarx::PropertyDefinitionsPtr& def,
                       const std::string& prefix = std::string());
 
        } properties;
 
        void updateFromProperties();
 
        Eigen::Vector3f positionMM = Eigen::Vector3f::Zero();
        KeyPointCoordinateSystem coordSystem = KeyPointCoordinateSystem::Camera;
        std::optional<double> distanceThresholdMM = std::nullopt;
        std::set<std::string> modelIDs;
    };
 
    std::optional<HumanPose>
    getNearestHuman(const std::vector<HumanPose>& humanPoses,
                    const NearestHumanParameters& parameters = NearestHumanParameters());
 
    bool checkVisibility(const HumanPose& pose, std::vector<std::string> labels, float threshold);
 
    std::optional<Eigen::Vector3f> calculateDirectionOfHuman(const HumanPose& pose);
 
 
    std::optional<Eigen::Isometry2f> calculatePose(const HumanPose& humanPose);
 
} // namespace armarx::armem::human