Method refineSkeletonJoints

detection/src/skeleton_detection.cpp:193–204

}

void
SkeletonDetection::refineSkeletonJoints(const
                                        Eigen::Matrix4d& registration_matrix)
{
  for(auto it = detection_msg_.joints.begin(),
      end = detection_msg_.joints.end(); it != end; ++it)
  {
    Eigen::Vector4d refined = registration_matrix
        * Eigen::Vector4d(it->x, it->y, it->z, 1.0);
    it->x = refined(0); it->y = refined(1); it->z = refined(2);
  }
}

std::ostream&
operator<<(std::ostream& ss, const SkeletonDetection& s)