Utility class to simplify the creation of semio::HumanoidSource instances. More...

#include <semio/ros/humanoid_source_adapter.h>

Public Member Functions
	HumanoidSourceAdapter (::ros::NodeHandle const &nh_rel, std::string const &default_source="fullbody")

HumanoidSource::Ptr	getHumanoidSource (std::string const &source="param")
	Create a semio::HumanoidSource. More...

Protected Attributes
::ros::NodeHandle	_nh_rel
	NodeHandle copy for interfacing with ROS. More...

std::string	_default_source
	The type of source to use by default if param mode is selected and the ROS param `_humanoid_source/type` is not defined. More...

Detailed Description

Utility class to simplify the creation of semio::HumanoidSource instances.

Definition at line 15 of file humanoid_source_adapter.h.

Constructor & Destructor Documentation

semio::ros::HumanoidSourceAdapter::HumanoidSourceAdapter	(	::ros::NodeHandle const &	nh_rel,
		std::string const &	default_source = `"fullbody"`
	)

Parameters

nh_rel	NodeHandle copy for interfacing with ROS.
default_source	The type of source to use by default if param mode is selected and the ROS param `_humanoid_source/type` is not defined.

Definition at line 9 of file humanoid_source_adapter.cpp.

Member Function Documentation

semio::HumanoidSource::Ptr semio::ros::HumanoidSourceAdapter::getHumanoidSource ( std::string const & source = "param" )

Create a semio::HumanoidSource.

If the ROS param _humanoid_source/filter/smoothing is defined, then a semio::HumanoidSmoothingFilter will be added to the source's filter list. See ROS Params for more info.

Parameters

source

The type of source to create

Value	Resulting pointer type	Notes
`"param"`	variable based on ROS param	Uses the value of the ROS param `_humanoid_source/type` to set `source`; defaults to _default_source defined during construction
`"nite"`	semio::HumanoidSourceNiTE	Use Kinect V2/NiTE to source humanoids (full body, only rough head pose)
`"openface"`	semio::HumanoidSourceOpenFace	Use OpenFace to source humanoids (head pose only)
`"fullbody"`	semio::HumanoidSourceFullBody	Merge humanoids from Kinect V2/NiTE and OpenFace (full body, including head)
`"ros"`	semio::ros::HumanoidSourceROS	Use ROS to source humanoids
`"none"`	semio::ros::HumanoidSourceROS	Specialization of semio::ros::HumanoidSourceROS, connects to topic `/null`
`"virtual"`	semio::ros::HumanoidSourceVirtual	Create virtual humanoid that can be posed in code

Note: "none" will be used if the value of source is not recognized

ROS Params

Name	Type	Default	Description
`_humanoid_source/type`	string	_default_source	Type of source to create when `source` is `"param"`
`_humanoid_source/filter/smoothing/add`	any	undefined	Define this parameter to add a default smoothing filter to incoming humanoids (when no other smoothing params are defined)
`_humanoid_source/filter/smoothing/position`	float64	undefined	The strength of the position component of the smoothing filter
`_humanoid_source/filter/smoothing/orientation`	float64	undefined	The strength of the orientation component of the smoothing filter
`_humanoid_source/filter/smoothing/confidence`	float64	undefined	The strength of the confidence component of the smoothing filter
`_humanoid_source/filter/smoothing/window`	float64	undefined	The window (duration) of the smoothing filter; `0` = use all samples
`_humanoid_source/fullbody/show_cropped_image`	bool	false	Whether to display the cropped face image from semio::HumanoidSourceFullBody