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jointAngleEstimation.hpp
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#ifdef USE_3D_ADAM_MODEL
#ifndef OPENPOSE_3D_JOINT_ANGLE_ESTIMATION_HPP
#define OPENPOSE_3D_JOINT_ANGLE_ESTIMATION_HPP
#ifdef USE_EIGEN
#include <Eigen/Core>
#endif
#ifdef USE_3D_ADAM_MODEL
#include <adam/totalmodel.h>
#endif
#include <opencv2/core/core.hpp>
#include <openpose/core/common.hpp>
namespace op
{
OP_API int mapOPToAdam(const int oPPart);
class OP_API JointAngleEstimation
{
public:
static const std::shared_ptr<const TotalModel> getTotalModel();
JointAngleEstimation(const bool returnJacobian);
virtual ~JointAngleEstimation();
void initializationOnThread();
void adamFastFit(Eigen::Matrix<double, 62, 3, Eigen::RowMajor>& adamPose,
Eigen::Vector3d& adamTranslation,
Eigen::Matrix<double, Eigen::Dynamic, 1>& vtVec,
Eigen::Matrix<double, Eigen::Dynamic, 1>& j0Vec,
Eigen::VectorXd& adamFacecoeffsExp,
const Array<float>& poseKeypoints3D,
const Array<float>& faceKeypoints3D,
const std::array<Array<float>, 2>& handKeypoints3D);
private:
// PIMPL idiom
// http://www.cppsamples.com/common-tasks/pimpl.html
struct ImplJointAngleEstimation;
std::shared_ptr<ImplJointAngleEstimation> spImpl;
// PIMP requires DELETE_COPY & destructor, or extra code
// http://oliora.github.io/2015/12/29/pimpl-and-rule-of-zero.html
DELETE_COPY(JointAngleEstimation);
};
}
#endif // OPENPOSE_3D_JOINT_ANGLE_ESTIMATION_HPP
#endif
DELETE_COPY
#define DELETE_COPY(className)
Definition: macros.hpp:34
cl::array
std::array< T, N > array
Definition: cl2.hpp:594
common.hpp
OP_API
#define OP_API
Definition: macros.hpp:19