k4a_bt_body_32.h

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2022
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <SimoxUtility/color/Color.h>
#include <SimoxUtility/meta/enum/EnumNames.hpp>
 
/**
 * Body model taken from https://docs.microsoft.com/en-us/azure/kinect-dk/body-joints and used
 * with Azure Kinect Body Tracking SDK 1.1.1.
 */
namespace armarx::human::pose::model::k4a_bt_body_32
{
    inline const std::string ModelId = "K4ABT_BODY_32";
 
    /**
     * Joints with index as defined in the body model.
     */
    enum class Joints
    {
        Pelvis,
        SpineNaval,
        SpineChest,
        Neck,
        ClavicleLeft,
        ShoulderLeft,
        ElbowLeft,
        WristLeft,
        HandLeft,
        HandtipLeft,
        ThumbLeft,
        ClavicleRight,
        ShoulderRight,
        ElbowRight,
        WristRight,
        HandRight,
        HandtipRight,
        ThumbRight,
        HipLeft,
        KneeLeft,
        AnkleLeft,
        FootLeft,
        HipRight,
        KneeRight,
        AnkleRight,
        FootRight,
        Head,
        Nose,
        EyeLeft,
        EarLeft,
        EyeRight,
        EarRight
    };
 
    /**
     * Names of the joints as defined in the body model.
     */
    inline const simox::meta::EnumNames<Joints> JointNames{{Joints::Pelvis, "Pelvis"},
                                                           {Joints::SpineNaval, "SpineNaval"},
                                                           {Joints::SpineChest, "SpineChest"},
                                                           {Joints::Neck, "Neck"},
                                                           {Joints::ClavicleLeft, "ClavicleLeft"},
                                                           {Joints::ShoulderLeft, "ShoulderLeft"},
                                                           {Joints::ElbowLeft, "ElbowLeft"},
                                                           {Joints::WristLeft, "WristLeft"},
                                                           {Joints::HandLeft, "HandLeft"},
                                                           {Joints::HandtipLeft, "HandtipLeft"},
                                                           {Joints::ThumbLeft, "ThumbLeft"},
                                                           {Joints::ClavicleRight, "ClavicleRight"},
                                                           {Joints::ShoulderRight, "ShoulderRight"},
                                                           {Joints::ElbowRight, "ElbowRight"},
                                                           {Joints::WristRight, "WristRight"},
                                                           {Joints::HandRight, "HandRight"},
                                                           {Joints::HandtipRight, "HandtipRight"},
                                                           {Joints::ThumbRight, "ThumbRight"},
                                                           {Joints::HipLeft, "HipLeft"},
                                                           {Joints::KneeLeft, "KneeLeft"},
                                                           {Joints::AnkleLeft, "AnkleLeft"},
                                                           {Joints::FootLeft, "FootLeft"},
                                                           {Joints::HipRight, "HipRight"},
                                                           {Joints::KneeRight, "KneeRight"},
                                                           {Joints::AnkleRight, "AnkleRight"},
                                                           {Joints::FootRight, "FootRight"},
                                                           {Joints::Head, "Head"},
                                                           {Joints::Nose, "Nose"},
                                                           {Joints::EyeLeft, "EyeLeft"},
                                                           {Joints::EarLeft, "EarLeft"},
                                                           {Joints::EyeRight, "EyeRight"},
                                                           {Joints::EarRight, "EarRight"}};
 
    /**
     * Segments (defined by pairs of joints) as defined in the body model.
     */
    inline const std::vector<std::pair<Joints, Joints>> Segments{
        {Joints::SpineNaval, Joints::Pelvis},
        {Joints::SpineChest, Joints::SpineNaval},
        {Joints::Neck, Joints::SpineChest},
        {Joints::ClavicleLeft, Joints::SpineChest},
        {Joints::ShoulderLeft, Joints::ClavicleLeft},
        {Joints::ElbowLeft, Joints::ShoulderLeft},
        {Joints::WristLeft, Joints::ElbowLeft},
        {Joints::HandLeft, Joints::WristLeft},
        {Joints::HandtipLeft, Joints::HandLeft},
        {Joints::ThumbLeft, Joints::WristLeft},
        {Joints::ClavicleRight, Joints::SpineChest},
        {Joints::ShoulderRight, Joints::ClavicleRight},
        {Joints::ElbowRight, Joints::ShoulderRight},
        {Joints::WristRight, Joints::ElbowRight},
        {Joints::HandRight, Joints::WristRight},
        {Joints::HandtipRight, Joints::HandRight},
        {Joints::ThumbRight, Joints::WristRight},
        {Joints::HipLeft, Joints::Pelvis},
        {Joints::KneeLeft, Joints::HipLeft},
        {Joints::AnkleLeft, Joints::KneeLeft},
        {Joints::FootLeft, Joints::AnkleLeft},
        {Joints::HipRight, Joints::Pelvis},
        {Joints::KneeRight, Joints::HipRight},
        {Joints::AnkleRight, Joints::KneeRight},
        {Joints::FootRight, Joints::AnkleRight},
        {Joints::Head, Joints::Neck},
        {Joints::Nose, Joints::Head},
        {Joints::EyeLeft, Joints::Head},
        {Joints::EarLeft, Joints::Head},
        {Joints::EyeRight, Joints::Head},
        {Joints::EarRight, Joints::Head}};
 
 
    inline const std::map<Joints, simox::Color> Colors = {
        {Joints::Pelvis, {0.f, 1.f, 0.f}},
        {Joints::SpineNaval, {0.f, 1.f, 0.f}},
        {Joints::SpineChest, {1.f, 0.f, 85.f / 255.f}},
        {Joints::Neck, {1.f, 0.f, 85.f / 255.f}},
        {Joints::ClavicleLeft, {1.f, 1.f, 0.f}},
        {Joints::ShoulderLeft, {1.f, 1.f, 0.f}},
        {Joints::ElbowLeft, {170.f / 255.f, 1.f, 0.f}},
        {Joints::WristLeft, {85.f / 255.f, 1.f, 0.f}},
        {Joints::HandLeft, {1.f, 0.f, 0.f}},
        {Joints::HandtipLeft, {0.f, 1.f, 0.f}},
        {Joints::ThumbLeft, {0.f, 0.f, 1.f}},
        {Joints::ClavicleRight, {1.f, 0.f, 0.f}},
        {Joints::ShoulderRight, {1.f, 0.f, 0.f}},
        {Joints::ElbowRight, {1.f, 85.f / 255.f, 0.f}},
        {Joints::WristRight, {1.f, 170.f / 255.f, 0.f}},
        {Joints::HandRight, {1.f, 0.f, 0.f}},
        {Joints::HandtipRight, {0.f, 1.f, 0.f}},
        {Joints::ThumbRight, {0.f, 0.f, 1.f}},
        {Joints::HipLeft, {0.f, 1.f, 1.f}},
        {Joints::KneeLeft, {0.f, 170.f / 255.f, 1.f}},
        {Joints::AnkleLeft, {0.f, 85.f / 255.f, 1.f}},
        {Joints::FootLeft, {85.f / 255.f, 0.f, 1.f}},
        {Joints::HipRight, {1.f, 0.f, 0.f}},
        {Joints::KneeRight, {0.f, 1.f, 85.f / 255.f}},
        {Joints::AnkleRight, {0.f, 1.f, 170.f / 255.f}},
        {Joints::FootRight, {0.f, 0.f, 1.f}},
        {Joints::Head, {1.f, 0.f, 85.f / 255.f}},
        {Joints::Nose, {1.f, 0.f, 85.f / 255.f}},
        {Joints::EyeLeft, {1.f, 0.f, 170.f / 255.f}},
        {Joints::EarLeft, {1.f, 0.f, 1.f}},
        {Joints::EyeRight, {0.f, 0.f, 1.f}},
        {Joints::EarRight, {170.f / 255.f, 0.f, 1.f}}};
 
} // namespace armarx::human::pose::model::k4a_bt_body_32