OpenPose  1.0.0rc2
OpenPose: A Real-Time Multi-Person Key-Point Detection And Multi-Threading C++ Library
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jointAngleEstimation.hpp
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1 #ifdef USE_3D_ADAM_MODEL
2 #ifndef OPENPOSE_3D_JOINT_ANGLE_ESTIMATION_HPP
3 #define OPENPOSE_3D_JOINT_ANGLE_ESTIMATION_HPP
4 
5 #ifdef USE_EIGEN
6  #include <Eigen/Core>
7 #endif
8 #ifdef USE_3D_ADAM_MODEL
9  #include <adam/totalmodel.h>
10 #endif
11 #include <opencv2/core/core.hpp>
12 #include <openpose/core/common.hpp>
13 
14 namespace op
15 {
16  OP_API int mapOPToAdam(const int oPPart);
17 
18  class OP_API JointAngleEstimation
19  {
20  public:
21  static const std::shared_ptr<const TotalModel> getTotalModel();
22 
23  JointAngleEstimation(const bool returnJacobian);
24 
25  virtual ~JointAngleEstimation();
26 
27  void initializationOnThread();
28 
29  void adamFastFit(Eigen::Matrix<double, 62, 3, Eigen::RowMajor>& adamPose,
30  Eigen::Vector3d& adamTranslation,
31  Eigen::Matrix<double, Eigen::Dynamic, 1>& vtVec,
32  Eigen::Matrix<double, Eigen::Dynamic, 1>& j0Vec,
33  Eigen::VectorXd& adamFacecoeffsExp,
34  const Array<float>& poseKeypoints3D,
35  const Array<float>& faceKeypoints3D,
36  const std::array<Array<float>, 2>& handKeypoints3D);
37 
38  private:
39  // PIMPL idiom
40  // http://www.cppsamples.com/common-tasks/pimpl.html
41  struct ImplJointAngleEstimation;
42  std::shared_ptr<ImplJointAngleEstimation> spImpl;
43 
44  // PIMP requires DELETE_COPY & destructor, or extra code
45  // http://oliora.github.io/2015/12/29/pimpl-and-rule-of-zero.html
46  DELETE_COPY(JointAngleEstimation);
47  };
48 }
49 
50 #endif // OPENPOSE_3D_JOINT_ANGLE_ESTIMATION_HPP
51 #endif
#define DELETE_COPY(className)
Definition: macros.hpp:34
std::array< T, N > array
Definition: cl2.hpp:594
#define OP_API
Definition: macros.hpp:19