Skeleton class is used for skeleton creations and manipulations. More...

#include <Skeleton.hpp>

Public Member Functions
	Skeleton (cv::Mat &rgbImage, cv::Mat &distanceImage, cv::Mat &skeletonImage, Json::Value skeletonData)
	Construct a new Skeleton object. More...

	~Skeleton (void)
	Destroy the Skeleton object. More...

void	generateSkeleton (void)
	A high-level method that abstracts all the internal structure and operations of the Skeleton class. It first calls calcBodyKeypoints(), then calcBodyEdges(), deprojectSkeletonPoints3D(), convert the coordinates in a specific format and then write them on the RGB image with writeCoordinates(). More...

std::vector< bool >	getBodyKeyPointsMap (void)
	Get the BodyKeyPoints Map vector. More...

std::vector< Point3D * >	getSkeletonPoints3D_RS (void)
	Get the SkeletonPoints3D RS vector. More...

std::vector< Point3D * > *	getSkeletonPoints3D (void)
	Get the Skeleton Points3D vector's pointer. More...

float	getConsistency (void)
	Get the Consistency float value. More...

Private Member Functions
void	setRGB_Image (cv::Mat &rgbImage)
	Set the RGB Image object. More...

void	setDistance_Image (cv::Mat &distanceImage)
	Set the Distance Image object. More...

void	setSkeleton_Image (cv::Mat &skeleton_Image)
	Set the Skeleton-only Image object. More...

void	setBodyKeyPoints (std::vector< BodyKeyPoint > &bodyKeyPoints)
	Set the Body Key Points vector. More...

void	setBodyKeyPointsMap (std::vector< bool > &bodyKeyPointsMap)
	Set the Body Key Points Map vector. More...

void	setSkeletonData (Json::Value skeletonData)
	Set the Skeleton Data JSON object. More...

void	setSkeletonPoints3D_RS (std::vector< Point3D * > skeletonPoints3D_RS)
	Set the SkeletonPoints3D RS vector. More...

void	setSkeletonPoints3D (std::vector< Point3D * > *skeletonPoints3D)
	Set the Skeleton Points3D pointer to vector. More...

void	setConsistency (float consistency)
	Set the Consistency float value. More...

cv::Mat	getRGB_Image (void)
	Get the RGB Image object. More...

cv::Mat	getDistance_Image (void)
	Get the Distance Image object. More...

cv::Mat	getSkeleton_Image (void)
	Get the Skeleton-only Image object. More...

std::vector< BodyKeyPoint >	getBodyKeyPoints (void)
	Get the Body Key Points vector. More...

Json::Value	getSkeletonData (void)
	Get the Skeleton Data JSON object. More...

void	calcBodyKeypoints (void)
	Retrieve BodyKeyPoints vector and the BodyKeyPoints Map bool vector from OpenPose output, while calculating corresponding Skeleton consistency. More...

void	calcBodyEdges (void)
	Calculate Skeleton and invoke methods to draw it on the image according to OpenPose skeleton structure. More...

void	drawLine (unsigned char start, unsigned char end)
	Draw a line that starts from a point and ends at another point. The points are specified as unsigned char, since is possible to access the instance BodyKeyPoints vector and get the point. More...

void	drawCircle (cv::Point center)
	Draw a circle at the specified point as a parameter. More...

void	deprojectSkeletonPoints3D (void)
	Deprojection operation takes a 2D pixel location on a stream's images, as well as a depth, specified in meters, and maps it to a 3D point location within the stream's associated 3D coordinate space. It is provided by the header-only function rs2_deproject_pixel_to_point(...). Intrinsic parameters can be retrieved from any rs2::video_stream_profile object via a call to get_intrinsics(). More...

void	writeCoordinates (void)
	Write specific joint points' coordinates on the RGB image. More...

Private Attributes
cv::Mat	rgb_Image
	RGB frame related to the frame in which the skeleton may appears. More...

cv::Mat	distance_Image
	Distance frame related to the frame in which the skeleton may appears. More...

cv::Mat	skeleton_Image
	A frame that contains only skeleton information such as green legs and red dots, representing connections between body joints. More...

std::vector< BodyKeyPoint >	bodyKeyPoints
	A vector that contains each body joint retrieved from OpenPose. More...

std::vector< bool >	bodyKeyPointsMap
	A vector that contains for each body joint retrieved from OpenPose a corresponding boolean that means if that body joint is a valuable and effective body joint or not. A body joint is a BodyKeyPoint with 3 conditions: "x" coordinate is different from zero, "y" coordinate is different from zero, and "confidence" is greater than 0.0. More...

Json::Value	skeletonData
	Represents a Skeleton JSON value. This class is a discriminated union wrapper that can represent a: More...

std::vector< Point3D * >	skeletonPoints3D_RS
	A vector that contains a set of pointers to Point3D. These points have coordinates whose domain is defined by RealSense Camera and project/deproject operations. More...

std::vector< Point3D * > *	skeletonPoints3D
	A pointer to a vector that contains a set of pointers to Point3D. These points have coordinates in which the domain is defined from boundaries parameters specified in "CoordinateMappingManager.hpp". More...

float	consistency
	Consistency is a value that represents how accurate is the OpenPose detection for this skeleton. As consequence, a really low consistency value indicates a skeleton that could not there be in the real scene (OpenPose misdetection). Otherwise, a low consistency value indicates a partial skeleton. This value is within the range [0; 1]. More...

Detailed Description

Skeleton class is used for skeleton creations and manipulations.

Skeleton class is a class that keeps track of the different frames where a specific skeleton may appears, its body key points, correspondent 3D space points, and other useful information skeleton-related.

Definition at line 37 of file Skeleton.hpp.

Constructor & Destructor Documentation

◆ Skeleton()

Skeleton::Skeleton	(	cv::Mat &	rgbImage,
		cv::Mat &	distanceImage,
		cv::Mat &	skeletonImage,
		Json::Value	skeletonData
	)

Construct a new Skeleton object.

Parameters

rgbImage	RGB frame.
distanceImage	Distance frame.
skeletonImage	Skeleton frame.
skeletonData	JSON object of a single person detected by OpenPose.

Definition at line 187 of file Skeleton.cpp.

                                                                                                    {
    setRGB_Image(rgbImage);
    setDistance_Image(dImage);
    setSkeleton_Image(skeleton_Image);
    setSkeletonData(skeletonData);
    setConsistency(0.0);
}

References setConsistency(), setDistance_Image(), setRGB_Image(), setSkeleton_Image(), setSkeletonData(), skeleton_Image, and skeletonData.

◆ ~Skeleton()

Skeleton::~Skeleton ( void )

Destroy the Skeleton object.

Definition at line 195 of file Skeleton.cpp.

                         {
    for (auto & point: * getSkeletonPoints3D()) delete point;
    for (auto & point: getSkeletonPoints3D_RS()) delete point;
    getSkeletonPoints3D()->clear();
    if (getSkeletonPoints3D() != nullptr) delete getSkeletonPoints3D();
    getSkeletonPoints3D_RS().clear();
}

References getSkeletonPoints3D(), and getSkeletonPoints3D_RS().

Member Function Documentation

◆ calcBodyEdges()

void Skeleton::calcBodyEdges ( void )

private

Calculate Skeleton and invoke methods to draw it on the image according to OpenPose skeleton structure.

See also: drawLine (unsigned char start, unsigned char end); drawCircle (cv::Point center)

Definition at line 99 of file Skeleton.cpp.

                                  {
    for (unsigned char i = 0; i < getBodyKeyPoints().size(); i++) {
        if (i >= openPoseBodyKeyPointsNumber || (!getBodyKeyPointsMap().at(i))) continue;
        drawCircle(cv::Point(getBodyKeyPoints().at(i).getX(), getBodyKeyPoints().at(i).getY()));
        
        switch (i) {
            case Nose ... RElbow:
            case LShoulder ... LElbow:
            case MidHip ... RKnee:
            case LHip ... LKnee:
            case LBigToe:
            case RBigToe:
                drawLine(i, i + 1);
                break;
            default:
                break;
        }
    }
    
    drawLine(Neck, LShoulder);
    drawLine(Neck, MidHip);
    drawLine(MidHip, LHip);
    drawLine(REye, Nose);
    drawLine(REye, REar);
    drawLine(LEye, Nose);
    drawLine(LEye, LEar);
    drawLine(LAnkle, LBigToe);
    drawLine(LAnkle, LHeel);
    drawLine(RAnkle, RBigToe);
    drawLine(RAnkle, RHeel);
}

References drawCircle(), drawLine(), getBodyKeyPoints(), getBodyKeyPointsMap(), LAnkle, LBigToe, LEar, LElbow, LEye, LHeel, LHip, LKnee, LShoulder, MidHip, Neck, Nose, openPoseBodyKeyPointsNumber, RAnkle, RBigToe, REar, RElbow, REye, RHeel, and RKnee.

Referenced by generateSkeleton().

◆ calcBodyKeypoints()

void Skeleton::calcBodyKeypoints ( void )

private

Retrieve BodyKeyPoints vector and the BodyKeyPoints Map bool vector from OpenPose output, while calculating corresponding Skeleton consistency.

See also: OutputManager; OutputManagerJSON; FacadeSingleton

Definition at line 78 of file Skeleton.cpp.

                                      {
    int j = 0;
    FacadeSingleton * facadeSingletonInstance = FacadeSingleton::getInstance();
    if (facadeSingletonInstance == nullptr) CV_Error(FACADE_SINGLETON_NULLPTR_ERROR, FACADE_SINGLETON_NULLPTR_SCOPE);
    OutputManagerJSON * outputManagerJSON = (OutputManagerJSON *) facadeSingletonInstance->getOutputManager();
    for (Json::Value::ArrayIndex i = 0; i < skeletonData.size(); i++) {
        bodyKeyPoints.push_back(BodyKeyPoint(
                                 outputManagerJSON->getValueAt((unsigned int) i, getSkeletonData()).asInt(),
                                 outputManagerJSON->getValueAt((unsigned int) i + 1, getSkeletonData()).asInt(),
                                 outputManagerJSON->getValueAt((unsigned int) i + 2, getSkeletonData()).asFloat())
                                );
        
        bodyKeyPointsMap.push_back(bodyKeyPoints.at(j).getX() > 0 && bodyKeyPoints.at(j).getY() > 0 && bodyKeyPoints.at(j).getConfidence() > 0.00);
        setConsistency(getConsistency() + bodyKeyPoints.at(j).getConfidence());
        i += 2;
        j += 1;
    }
    
    setConsistency(getConsistency() / openPoseBodyKeyPointsNumber);
}

References bodyKeyPoints, bodyKeyPointsMap, FACADE_SINGLETON_NULLPTR_ERROR, FACADE_SINGLETON_NULLPTR_SCOPE, getConsistency(), FacadeSingleton::getInstance(), FacadeSingleton::getOutputManager(), getSkeletonData(), OutputManagerJSON::getValueAt(), openPoseBodyKeyPointsNumber, setConsistency(), and skeletonData.

Referenced by generateSkeleton().

◆ deprojectSkeletonPoints3D()

void Skeleton::deprojectSkeletonPoints3D ( void )

private

Deprojection operation takes a 2D pixel location on a stream's images, as well as a depth, specified in meters, and maps it to a 3D point location within the stream's associated 3D coordinate space. It is provided by the header-only function rs2_deproject_pixel_to_point(...). Intrinsic parameters can be retrieved from any rs2::video_stream_profile object via a call to get_intrinsics().

See also: https://dev.intelrealsense.com/docs/projection-in-intel-realsense-sdk-20; FacadeSingleton; RealSenseManager; get_color_intrin()

Definition at line 145 of file Skeleton.cpp.

                                              {
    FacadeSingleton * facadeSingletonInstance = FacadeSingleton::getInstance();
    if (facadeSingletonInstance == nullptr) CV_Error(FACADE_SINGLETON_NULLPTR_ERROR, FACADE_SINGLETON_NULLPTR_SCOPE);
    struct rs2_intrinsics color_intrin = facadeSingletonInstance->getCameraManager()->get_color_intrin();
    for (unsigned char i = 0; i < getBodyKeyPoints().size(); i++) {
        float * pixel = new (std::nothrow) float [2], * point = new (std::nothrow) float [3], distance = 0;
        if (!pixel || !point) CV_Error(NEW_ALLOC_ERROR, NEW_ALLOC_SCOPE);
        
        if (!getBodyKeyPointsMap().at(i)) {
            point[0] = point[1] = point[2] = pixel[0] = pixel[1] = 0;
        } else {
            pixel[0] = getBodyKeyPoints().at(i).getX();
            pixel[1] = getBodyKeyPoints().at(i).getY();
            distance = getDistance_Image().at<float>(pixel[1], pixel[0]);
            rs2_deproject_pixel_to_point(point, & color_intrin, pixel, distance);
        }
 
        Point3D * point3D = new Point3D(point[0], point[1], point[2], new BodyKeyPoint(0, 0, getBodyKeyPoints().at(i).getConfidence()));
        skeletonPoints3D_RS.push_back(point3D);
        delete [] pixel;
        delete [] point;
    }
}

References FACADE_SINGLETON_NULLPTR_ERROR, FACADE_SINGLETON_NULLPTR_SCOPE, RealSenseManager::get_color_intrin(), getBodyKeyPoints(), getBodyKeyPointsMap(), FacadeSingleton::getCameraManager(), getDistance_Image(), FacadeSingleton::getInstance(), NEW_ALLOC_ERROR, NEW_ALLOC_SCOPE, and skeletonPoints3D_RS.

Referenced by generateSkeleton().

◆ drawCircle()

void Skeleton::drawCircle ( cv::Point center )

private

Draw a circle at the specified point as a parameter.

Parameters

center points where OpenCV will draw the circle.

Definition at line 140 of file Skeleton.cpp.

                                         {
    cv::circle(getRGB_Image(), center, 4, cv::Scalar(0, 0, 255), 8, cv::LINE_8, 0);
    cv::circle(getSkeleton_Image(), center, 4, cv::Scalar(0, 0, 255), 8, cv::LINE_8, 0); // remove
}

References getRGB_Image(), and getSkeleton_Image().

Referenced by calcBodyEdges().

◆ drawLine()

void Skeleton::drawLine	(	unsigned char	start,
		unsigned char	end
	)

private

Draw a line that starts from a point and ends at another point. The points are specified as unsigned char, since is possible to access the instance BodyKeyPoints vector and get the point.

Parameters

start	start point index in the BodyKeyPoints vector.
end	end point index in the BodyKeyPoints vector.

Definition at line 131 of file Skeleton.cpp.

                                                               {
    if (getBodyKeyPointsMap().at(start) && getBodyKeyPointsMap().at(end)) {
        cv::line(getRGB_Image(), cv::Point(getBodyKeyPoints().at(start).getX(), getBodyKeyPoints().at(start).getY()),
                 cv::Point(getBodyKeyPoints().at(end).getX(), getBodyKeyPoints().at(end).getY()), cv::Scalar(0, 255, 0), 3, cv::LINE_8, 0);
        cv::line(getSkeleton_Image(), cv::Point(getBodyKeyPoints().at(start).getX(), getBodyKeyPoints().at(start).getY()),
                 cv::Point(getBodyKeyPoints().at(end).getX(), getBodyKeyPoints().at(end).getY()), cv::Scalar(0, 255, 0), 3, cv::LINE_8, 0); // remove in future
    }
}

References getBodyKeyPoints(), getBodyKeyPointsMap(), getRGB_Image(), and getSkeleton_Image().

Referenced by calcBodyEdges().

◆ generateSkeleton()

void Skeleton::generateSkeleton ( void )

A high-level method that abstracts all the internal structure and operations of the Skeleton class. It first calls calcBodyKeypoints(), then calcBodyEdges(), deprojectSkeletonPoints3D(), convert the coordinates in a specific format and then write them on the RGB image with writeCoordinates().

See also: mapToMeters (std::vector <Point3D *> pointsToMap, std::vector <bool> bodyKeyPointsMap, float xOrigin, float zOrigin)

Definition at line 203 of file Skeleton.cpp.

                                 {
    calcBodyKeypoints();
    calcBodyEdges();
    deprojectSkeletonPoints3D();
    FacadeSingleton * facadeSingletonInstance = FacadeSingleton::getInstance();
    if (facadeSingletonInstance == nullptr) CV_Error(FACADE_SINGLETON_NULLPTR_ERROR, FACADE_SINGLETON_NULLPTR_SCOPE);
    // xOrigin and zOrigin parameters are inverted as the built Unity world requires.
    setSkeletonPoints3D(facadeSingletonInstance->getCoordinateMappingManager()->mapToMeters(getSkeletonPoints3D_RS(), getBodyKeyPointsMap(), zOriginUnity, xOriginUnity));
    writeCoordinates();
}

References calcBodyEdges(), calcBodyKeypoints(), deprojectSkeletonPoints3D(), FACADE_SINGLETON_NULLPTR_ERROR, FACADE_SINGLETON_NULLPTR_SCOPE, getBodyKeyPointsMap(), FacadeSingleton::getCoordinateMappingManager(), FacadeSingleton::getInstance(), getSkeletonPoints3D_RS(), CoordinateMappingManager::mapToMeters(), setSkeletonPoints3D(), writeCoordinates(), xOriginUnity, and zOriginUnity.

Referenced by OutputManagerJSON::createJSON().

◆ getBodyKeyPoints()

std::vector< BodyKeyPoint > Skeleton::getBodyKeyPoints ( void )

private

Get the Body Key Points vector.

Returns: std::vector <BodyKeyPoint>

Definition at line 65 of file Skeleton.cpp.

                                                         {
    return this->bodyKeyPoints;
}

References bodyKeyPoints.

Referenced by calcBodyEdges(), deprojectSkeletonPoints3D(), drawLine(), and writeCoordinates().

◆ getBodyKeyPointsMap()

std::vector< bool > Skeleton::getBodyKeyPointsMap ( void )

Get the BodyKeyPoints Map vector.

Returns: std::vector <bool>

Definition at line 69 of file Skeleton.cpp.

                                                    {
    return this->bodyKeyPointsMap;
}

References bodyKeyPointsMap.

Referenced by calcBodyEdges(), OutputManagerJSON::createJSON(), deprojectSkeletonPoints3D(), drawLine(), and generateSkeleton().

◆ getConsistency()

float Skeleton::getConsistency ( void )

Get the Consistency float value.

Returns: float

Definition at line 222 of file Skeleton.cpp.

                                    {
    return this->consistency;
}

References consistency.

Referenced by calcBodyKeypoints(), and OutputManagerJSON::createJSON().

◆ getDistance_Image()

cv::Mat Skeleton::getDistance_Image ( void )

private

Get the Distance Image object.

Returns: cv::Mat

Definition at line 57 of file Skeleton.cpp.

                                       {
    return this->distance_Image;
}

References distance_Image.

Referenced by deprojectSkeletonPoints3D().

◆ getRGB_Image()

cv::Mat Skeleton::getRGB_Image ( void )

private

Get the RGB Image object.

Returns: cv::Mat

Definition at line 53 of file Skeleton.cpp.

                                 {
    return this->rgb_Image;
}

References rgb_Image.

Referenced by drawCircle(), drawLine(), and writeCoordinates().

◆ getSkeleton_Image()

cv::Mat Skeleton::getSkeleton_Image ( void )

private

Get the Skeleton-only Image object.

Returns: cv::Mat

Definition at line 61 of file Skeleton.cpp.

                                       {
    return this->skeleton_Image;
}

References skeleton_Image.

Referenced by drawCircle(), and drawLine().

◆ getSkeletonData()

Json::Value Skeleton::getSkeletonData ( void )

private

Get the Skeleton Data JSON object.

Returns: Json::Value

Definition at line 73 of file Skeleton.cpp.

                                         {
    return this->skeletonData;
}

References skeletonData.

Referenced by calcBodyKeypoints().

◆ getSkeletonPoints3D()

std::vector< Point3D * > * Skeleton::getSkeletonPoints3D ( void )

Get the Skeleton Points3D vector's pointer.

Returns: std::vector <Point3D *>*

Definition at line 218 of file Skeleton.cpp.

                                                           {
    return this->skeletonPoints3D;
}

References skeletonPoints3D.

Referenced by OutputManagerJSON::createJSON(), writeCoordinates(), and ~Skeleton().

◆ getSkeletonPoints3D_RS()

std::vector< Point3D * > Skeleton::getSkeletonPoints3D_RS ( void )

Get the SkeletonPoints3D RS vector.

Returns: std::vector <Point3D *>

Definition at line 214 of file Skeleton.cpp.

                                                            {
    return this->skeletonPoints3D_RS;
}

References skeletonPoints3D_RS.

Referenced by generateSkeleton(), and ~Skeleton().

◆ setBodyKeyPoints()

void Skeleton::setBodyKeyPoints ( std::vector< BodyKeyPoint > & bodyKeyPoints )

private

Set the Body Key Points vector.

Parameters

bodyKeyPoints

Definition at line 27 of file Skeleton.cpp.

                                                                         {
    this->bodyKeyPoints = bodyKeyPoints;
}

References bodyKeyPoints.

◆ setBodyKeyPointsMap()

void Skeleton::setBodyKeyPointsMap ( std::vector< bool > & bodyKeyPointsMap )

private

Set the Body Key Points Map vector.

Parameters

bodyKeyPointsMap

Definition at line 31 of file Skeleton.cpp.

                                                                       {
    this->bodyKeyPointsMap = bodyKeyPointsMap;
}

References bodyKeyPointsMap.

◆ setConsistency()

void Skeleton::setConsistency ( float consistency )

private

Set the Consistency float value.

Parameters

consistency

Definition at line 47 of file Skeleton.cpp.

                                                {
    this->consistency = consistency;
}

References consistency.

Referenced by calcBodyKeypoints(), and Skeleton().

◆ setDistance_Image()

void Skeleton::setDistance_Image ( cv::Mat & distanceImage )

private

Set the Distance Image object.

Parameters

distanceImage

Definition at line 19 of file Skeleton.cpp.

                                                 {
    this->distance_Image = myImage;
}

References distance_Image.

Referenced by Skeleton().

◆ setRGB_Image()

void Skeleton::setRGB_Image ( cv::Mat & rgbImage )

private

Set the RGB Image object.

Parameters

rgbImage

Definition at line 15 of file Skeleton.cpp.

                                            {
    this->rgb_Image = myImage;
}

References rgb_Image.

Referenced by Skeleton().

◆ setSkeleton_Image()

void Skeleton::setSkeleton_Image ( cv::Mat & skeleton_Image )

private

Set the Skeleton-only Image object.

Parameters

skeleton_Image

Definition at line 23 of file Skeleton.cpp.

                                                 {
    this->skeleton_Image = myImage;
}

References skeleton_Image.

Referenced by Skeleton().

◆ setSkeletonData()

void Skeleton::setSkeletonData ( Json::Value skeletonData )

private

Set the Skeleton Data JSON object.

Parameters

skeletonData

Definition at line 35 of file Skeleton.cpp.

                                                      {
    this->skeletonData = skeletonData;
}

References skeletonData.

Referenced by Skeleton().

◆ setSkeletonPoints3D()

void Skeleton::setSkeletonPoints3D ( std::vector< Point3D * > * skeletonPoints3D )

private

Set the Skeleton Points3D pointer to vector.

Parameters

skeletonPoints3D

Definition at line 43 of file Skeleton.cpp.

                                                                            {
    this->skeletonPoints3D = skeletonPoints3D;
}

References skeletonPoints3D.

Referenced by generateSkeleton().

◆ setSkeletonPoints3D_RS()

void Skeleton::setSkeletonPoints3D_RS ( std::vector< Point3D * > skeletonPoints3D_RS )

private

Set the SkeletonPoints3D RS vector.

Parameters

skeletonPoints3D_RS

Definition at line 39 of file Skeleton.cpp.

                                                                                {
    this->skeletonPoints3D_RS = skeletonPoints3D_RS;
}

References skeletonPoints3D_RS.

◆ writeCoordinates()

void Skeleton::writeCoordinates ( void )

private

Write specific joint points' coordinates on the RGB image.

See also: getSkeletonPoints3D(); getBodyKeyPoints(); Point

Definition at line 169 of file Skeleton.cpp.

                                     {
    for (unsigned char i = 0; i < getSkeletonPoints3D()->size(); i++) {
        std::stringstream labelTextX, labelTextY, labelTextZ, labelTextConfidence;
        labelTextX << getSkeletonPoints3D()->at(i)->getX();
        labelTextY << getSkeletonPoints3D()->at(i)->getY();
        labelTextZ << getSkeletonPoints3D()->at(i)->getZ();
        labelTextConfidence << ((BodyKeyPoint *) getSkeletonPoints3D()->at(i)->getDecorated())->getConfidence();
        
        if (i == 0 || i == 12 || i == 14) {
            cv::putText(getRGB_Image(), labelTextX.str(), cv::Point(getBodyKeyPoints().at(i).getX() + 10, getBodyKeyPoints().at(i).getY() + 10), cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255, 0, 0), 1, cv::LINE_8);
            cv::putText(getRGB_Image(), labelTextY.str(), cv::Point(getBodyKeyPoints().at(i).getX() + 10, getBodyKeyPoints().at(i).getY() + 25), cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255, 0, 0), 1, cv::LINE_8);
            cv::putText(getRGB_Image(), labelTextZ.str(), cv::Point(getBodyKeyPoints().at(i).getX() + 10, getBodyKeyPoints().at(i).getY() + 40), cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255, 0, 0), 1, cv::LINE_8);
        }
    }
}

References getBodyKeyPoints(), getRGB_Image(), and getSkeletonPoints3D().

Referenced by generateSkeleton().

Member Data Documentation

◆ bodyKeyPoints

std::vector<BodyKeyPoint> Skeleton::bodyKeyPoints

private

A vector that contains each body joint retrieved from OpenPose.

See also: BodyKeyPoint

Definition at line 55 of file Skeleton.hpp.

Referenced by calcBodyKeypoints(), getBodyKeyPoints(), and setBodyKeyPoints().

◆ bodyKeyPointsMap

std::vector<bool> Skeleton::bodyKeyPointsMap

private

A vector that contains for each body joint retrieved from OpenPose a corresponding boolean that means if that body joint is a valuable and effective body joint or not. A body joint is a BodyKeyPoint with 3 conditions: "x" coordinate is different from zero, "y" coordinate is different from zero, and "confidence" is greater than 0.0.

See also: BodyKeyPoint

Definition at line 62 of file Skeleton.hpp.

Referenced by calcBodyKeypoints(), getBodyKeyPointsMap(), and setBodyKeyPointsMap().

◆ consistency

float Skeleton::consistency

private

Consistency is a value that represents how accurate is the OpenPose detection for this skeleton. As consequence, a really low consistency value indicates a skeleton that could not there be in the real scene (OpenPose misdetection). Otherwise, a low consistency value indicates a partial skeleton. This value is within the range [0; 1].

Definition at line 99 of file Skeleton.hpp.

Referenced by getConsistency(), and setConsistency().

◆ distance_Image

cv::Mat Skeleton::distance_Image

private

Distance frame related to the frame in which the skeleton may appears.

Definition at line 46 of file Skeleton.hpp.

Referenced by getDistance_Image(), and setDistance_Image().

◆ rgb_Image

cv::Mat Skeleton::rgb_Image

private

RGB frame related to the frame in which the skeleton may appears.

Definition at line 42 of file Skeleton.hpp.

Referenced by getRGB_Image(), and setRGB_Image().

◆ skeleton_Image

cv::Mat Skeleton::skeleton_Image

private

A frame that contains only skeleton information such as green legs and red dots, representing connections between body joints.

Definition at line 50 of file Skeleton.hpp.

Referenced by getSkeleton_Image(), setSkeleton_Image(), and Skeleton().

◆ skeletonData

Json::Value Skeleton::skeletonData

private

Represents a Skeleton JSON value. This class is a discriminated union wrapper that can represent a:

signed integer [range: Value::minInt - Value::maxInt]
unsigned integer (range: 0 - Value::maxUInt)
double
UTF-8 string
boolean
'null'
an ordered list of Value
collection of name/value pairs (javascript object)

In this case this JSON Value contains all informations about body joints retrieved from OpenPose JSON output.

See also: https://github.com/open-source-parsers/jsoncpp; BodyKeyPoint

Definition at line 78 of file Skeleton.hpp.

Referenced by calcBodyKeypoints(), getSkeletonData(), setSkeletonData(), and Skeleton().

◆ skeletonPoints3D

std::vector<Point3D *>* Skeleton::skeletonPoints3D

private

A pointer to a vector that contains a set of pointers to Point3D. These points have coordinates in which the domain is defined from boundaries parameters specified in "CoordinateMappingManager.hpp".

See also: https://dev.intelrealsense.com/docs/projection-in-intel-realsense-sdk-20; Point3D; constants.hpp

Definition at line 93 of file Skeleton.hpp.

Referenced by getSkeletonPoints3D(), and setSkeletonPoints3D().

◆ skeletonPoints3D_RS

std::vector<Point3D *> Skeleton::skeletonPoints3D_RS

private

A vector that contains a set of pointers to Point3D. These points have coordinates whose domain is defined by RealSense Camera and project/deproject operations.

See also: https://dev.intelrealsense.com/docs/projection-in-intel-realsense-sdk-20; Point3D

Definition at line 85 of file Skeleton.hpp.

Referenced by deprojectSkeletonPoints3D(), getSkeletonPoints3D_RS(), and setSkeletonPoints3D_RS().

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Skeleton()

◆ ~Skeleton()

Member Function Documentation

◆ calcBodyEdges()

◆ calcBodyKeypoints()

◆ deprojectSkeletonPoints3D()

◆ drawCircle()

◆ drawLine()

◆ generateSkeleton()

◆ getBodyKeyPoints()

◆ getBodyKeyPointsMap()

◆ getConsistency()

◆ getDistance_Image()

◆ getRGB_Image()

◆ getSkeleton_Image()

◆ getSkeletonData()

◆ getSkeletonPoints3D()

◆ getSkeletonPoints3D_RS()

◆ setBodyKeyPoints()

◆ setBodyKeyPointsMap()

◆ setConsistency()

◆ setDistance_Image()

◆ setRGB_Image()

◆ setSkeleton_Image()

◆ setSkeletonData()

◆ setSkeletonPoints3D()

◆ setSkeletonPoints3D_RS()

◆ writeCoordinates()

Member Data Documentation

◆ bodyKeyPoints

◆ bodyKeyPointsMap

◆ consistency

◆ distance_Image

◆ rgb_Image

◆ skeleton_Image

◆ skeletonData

◆ skeletonPoints3D

◆ skeletonPoints3D_RS