hri::Body Class Reference

#include <body.h>

Inheritance diagram for hri::Body:

Public Member Functions
	Body (ID id, ros::NodeHandle &nh, tf2_ros::Buffer *tf_buffer_ptr, const std::string &reference_frame)
cv::Mat	cropped () const
	Returns the body image, cropped from the source image. More...
std::string	frame () const
	the name of the tf frame that correspond to this body More...
void	init () override
NormROI	roi () const
	If available, returns the normalized 2D region of interest (RoI) of the body. More...
std::vector< SkeletonPoint >	skeleton () const
	Returns the 2D skeleton keypoints. More...
boost::optional< geometry_msgs::TransformStamped >	transform () const
	Returns the (stamped) 3D transform of the body (if available). More...
virtual	~Body ()
Public Member Functions inherited from hri::FeatureTracker
	FeatureTracker (const FeatureTracker &)=delete
	FeatureTracker (ID id, const ros::NodeHandle &nh)
std::string	getNamespace () const
ID	id () const
std::string	ns () const
bool	operator< (const FeatureTracker &other) const
virtual	~FeatureTracker ()

Private Member Functions
void	onCropped (sensor_msgs::ImageConstPtr roi)
void	onRoI (hri_msgs::NormalizedRegionOfInterest2DConstPtr roi)
void	onSkeleton (hri_msgs::Skeleton2DConstPtr skeleton)

Private Attributes
std::string	_reference_frame
tf2_ros::Buffer *	_tf_buffer_ptr
cv::Mat	cropped_
ros::Subscriber	cropped_subscriber_
size_t	nb_roi
NormROI	roi_
ros::Subscriber	roi_subscriber_
std::vector< SkeletonPoint >	skeleton_
ros::Subscriber	skeleton_subscriber_

Additional Inherited Members
Protected Attributes inherited from hri::FeatureTracker
ID	id_
ros::NodeHandle	node_
std::string	ns_

Detailed Description

Definition at line 57 of file body.h.

Constructor & Destructor Documentation

Body()

Body::Body	(	ID	id,
		ros::NodeHandle &	nh,
		tf2_ros::Buffer *	tf_buffer_ptr,
		const std::string &	reference_frame
	)

Definition at line 36 of file body.cpp.

~Body()

Body::~Body ( )

virtual

Definition at line 43 of file body.cpp.

Member Function Documentation

cropped()

cv::Mat Body::cropped

(

)

const

Returns the body image, cropped from the source image.

Definition at line 79 of file body.cpp.

frame()

std::string hri::Body::frame ( ) const

inline

the name of the tf frame that correspond to this body

Definition at line 67 of file body.h.

init()

void Body::init ( )

overridevirtual

Implements hri::FeatureTracker.

Definition at line 49 of file body.cpp.

onCropped()

void Body::onCropped ( sensor_msgs::ImageConstPtr  roi )

private

Definition at line 74 of file body.cpp.

onRoI()

void Body::onRoI ( hri_msgs::NormalizedRegionOfInterest2DConstPtr  roi )

private

Definition at line 64 of file body.cpp.

onSkeleton()

void Body::onSkeleton ( hri_msgs::Skeleton2DConstPtr  skeleton )

private

Definition at line 84 of file body.cpp.

roi()

NormROI Body::roi

(

)

const

If available, returns the normalized 2D region of interest (RoI) of the body.

Use example:

HRIListener hri_listener;
 
auto bodies = hri_listener.getBodies();
 
for (auto const& body : bodies)
{
  auto roi = body.second.lock()->roi();
  cout << "Normalized size of body_" << body.first << ": ";
  cout << (roi.xmax - roi.xmin) << "x" << (roi.ymax - roi.ymin) << endl;
}

The coordinates are provided in the original camera's image coordinate space.

The header's timestamp is the same as a the timestamp of the original image from which the body has been detected.

Definition at line 69 of file body.cpp.

skeleton()

std::vector< SkeletonPoint > Body::skeleton

(

)

const

Returns the 2D skeleton keypoints.

Points coordinates are in the image space of the source image, and normalised between 0.0 and 1.0.

The skeleton joints indices follow those defined in http://docs.ros.org/en/api/hri_msgs/html/msg/Skeleton2D.html

Definition at line 89 of file body.cpp.

transform()

boost::optional< geometry_msgs::TransformStamped > Body::transform

(

)

const

Returns the (stamped) 3D transform of the body (if available).

Definition at line 94 of file body.cpp.

Member Data Documentation

_reference_frame

std::string hri::Body::_reference_frame

private

Definition at line 132 of file body.h.

_tf_buffer_ptr

tf2_ros::Buffer* hri::Body::_tf_buffer_ptr

private

Definition at line 133 of file body.h.

cropped_

cv::Mat hri::Body::cropped_

private

Definition at line 126 of file body.h.

cropped_subscriber_

ros::Subscriber hri::Body::cropped_subscriber_

private

Definition at line 124 of file body.h.

nb_roi

size_t hri::Body::nb_roi

private

Definition at line 118 of file body.h.

roi_

NormROI hri::Body::roi_

private

Definition at line 122 of file body.h.

roi_subscriber_

ros::Subscriber hri::Body::roi_subscriber_

private

Definition at line 120 of file body.h.

skeleton_

std::vector<SkeletonPoint> hri::Body::skeleton_

private

Definition at line 130 of file body.h.

skeleton_subscriber_

ros::Subscriber hri::Body::skeleton_subscriber_

private

Definition at line 128 of file body.h.

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

• body.h
• body.cpp