openpose_body_25.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>
 
 
namespace armarx::human::pose::model::openpose_body_25
{
    inline const std::string ModelId = "BODY_25";
 
    enum class Joints
    {
        Nose,
        Neck,
        ShoulderRight,
        ElbowRight,
        WristRight,
        ShoulderLeft,
        ElbowLeft,
        WristLeft,
        Pelvis,
        HipRight,
        KneeRight,
        AnkleRight,
        HipLeft,
        KneeLeft,
        AnkleLeft,
        EyeRight,
        EyeLeft,
        EarRight,
        EarLeft,
        BigToeLeft,
        SmallToeLeft,
        HeelLeft,
        BigToeRight,
        SmallToeRight,
        HeelRight,
        Background
    };
 
    inline const simox::meta::EnumNames<Joints> JointNames{{Joints::Nose, "Nose"},
                                                          {Joints::Neck, "Neck"},
                                                          {Joints::ShoulderRight, "RShoulder"},
                                                          {Joints::ElbowRight, "RElbow"},
                                                          {Joints::WristRight, "RWrist"},
                                                          {Joints::ShoulderLeft, "LShoulder"},
                                                          {Joints::ElbowLeft, "LElbow"},
                                                          {Joints::WristLeft, "LWrist"},
                                                          {Joints::Pelvis, "MidHip"},
                                                          {Joints::HipRight, "RHip"},
                                                          {Joints::KneeRight, "RKnee"},
                                                          {Joints::AnkleRight, "RAnkle"},
                                                          {Joints::HipLeft, "LHip"},
                                                          {Joints::KneeLeft, "LKnee"},
                                                          {Joints::AnkleLeft, "LAnkle"},
                                                          {Joints::EyeRight, "REye"},
                                                          {Joints::EyeLeft, "LEye"},
                                                          {Joints::EarRight, "REar"},
                                                          {Joints::EarLeft, "LEar"},
                                                          {Joints::BigToeLeft, "LBigToe"},
                                                          {Joints::SmallToeLeft, "LSmallToe"},
                                                          {Joints::HeelLeft, "LHeel"},
                                                          {Joints::BigToeRight, "RBigToe"},
                                                          {Joints::SmallToeRight, "RSmallToe"},
                                                          {Joints::HeelRight, "RHeel"},
                                                          {Joints::Background, "Background"}};
 
 
    inline const std::vector<std::pair<Joints, Joints>> Segments = {
        {Joints::Neck, Joints::Pelvis},
        {Joints::Neck, Joints::ShoulderRight},
        {Joints::Neck, Joints::ShoulderLeft},
        {Joints::ShoulderRight, Joints::ElbowRight},
        {Joints::ElbowRight, Joints::WristRight},
        {Joints::ShoulderLeft, Joints::ElbowLeft},
        {Joints::ElbowLeft, Joints::WristLeft},
        {Joints::Pelvis, Joints::HipRight},
        {Joints::HipRight, Joints::KneeRight},
        {Joints::KneeRight, Joints::AnkleRight},
        {Joints::Pelvis, Joints::HipLeft},
        {Joints::HipLeft, Joints::KneeLeft},
        {Joints::KneeLeft, Joints::AnkleLeft},
        {Joints::Neck, Joints::Nose},
        {Joints::Nose, Joints::EyeRight},
        {Joints::EyeRight, Joints::EarRight},
        {Joints::Nose, Joints::EyeLeft},
        {Joints::EyeLeft, Joints::EarLeft},
        {Joints::AnkleLeft, Joints::BigToeLeft},
        {Joints::BigToeLeft, Joints::SmallToeLeft},
        {Joints::AnkleLeft, Joints::HeelLeft},
        {Joints::AnkleRight, Joints::BigToeRight},
        {Joints::BigToeRight, Joints::SmallToeRight},
        {Joints::AnkleRight, Joints::HeelRight}};
 
 
    inline const std::map<Joints, simox::Color> Colors = {
        {Joints::Nose, {1.f, 0.f, 85.f / 255.f}},
        {Joints::Neck, {1.f, 0.f, 0.f}},
        {Joints::ShoulderRight, {1.f, 85.f / 255.f, 0.f}},
        {Joints::ElbowRight, {1.f, 170.f / 255.f, 0.f}},
        {Joints::WristRight, {1.f, 1.f, 0.f}},
        {Joints::ShoulderLeft, {170.f / 255.f, 1.f, 0.f}},
        {Joints::ElbowLeft, {85.f / 255.f, 1.f, 0.f}},
        {Joints::WristLeft, {0.f, 1.f, 0.f}},
        {Joints::Pelvis, {1.f, 0.f, 0.f}},
        {Joints::HipRight, {0.f, 1.f, 85.f / 255.f}},
        {Joints::KneeRight, {0.f, 1.f, 170.f / 255.f}},
        {Joints::AnkleRight, {0.f, 1.f, 1.f}},
        {Joints::HipLeft, {0.f, 170.f / 255.f, 1.f}},
        {Joints::KneeLeft, {0.f, 85.f / 255.f, 1.f}},
        {Joints::AnkleLeft, {0.f, 0.f, 1.f}},
        {Joints::EyeRight, {1.f, 0.f, 170.f / 255.f}},
        {Joints::EyeLeft, {170.f / 255.f, 0.f, 1.f}},
        {Joints::EarRight, {1.f, 0.f, 1.f}},
        {Joints::EarLeft, {85.f / 255.f, 0.f, 1.f}},
        {Joints::BigToeLeft, {0.f, 0.f, 1.f}},
        {Joints::SmallToeLeft, {0.f, 0.f, 1.f}},
        {Joints::HeelLeft, {0.f, 0.f, 1.f}},
        {Joints::BigToeRight, {0.f, 1.f, 1.f}},
        {Joints::SmallToeRight, {0.f, 1.f, 1.f}},
        {Joints::HeelRight, {0.f, 1.f, 1.f}}};
        // Joints::Background has no color assigned
 
 
} // namespace armarx::human::pose::model::openpose_body_25