Method toMsg

tracking/src/skeleton_track.cpp:193–248

}

void
SkeletonTrack::toMsg(opt_msgs::SkeletonTrack& track_msg, bool vertical)
{
  if(SkeletonTrack::count == 0 && debug_count_ <= 0)
    ROS_WARN_STREAM("SkeletonTrack TODO: Define the skel_track_msg");
  double _x,_y;
  filter_->getState(_x,_y);

  track_msg.id = id_;
  track_msg.x = _x;
  track_msg.y = _y;
  track_msg.height = z_;
  track_msg.distance = distance_;
  track_msg.age = age_;
  track_msg.color.a = 1.0;
  track_msg.color.r = color_(2);
  track_msg.color.g = color_(1);
  track_msg.color.b = color_(0);

  track_msg.confidence = - data_association_score_;   // minus for transforming distance into a sort of confidence
  track_msg.visibility = visibility_;

  Eigen::Vector3d top(_x, _y, z_ + (height_/2));
  Eigen::Vector3d bottom(_x, _y, z_ - (height_/2));
  top = detection_source_->transformToCam(top);
  bottom = detection_source_->transformToCam(bottom);
  if (not vertical)
  {
    track_msg.box_2D.height = int(std::abs((top - bottom)(1)));
    track_msg.box_2D.width = track_msg.box_2D.height / 2;
    track_msg.box_2D.x = int(top(0)) - track_msg.box_2D.height / 4;
    track_msg.box_2D.y = int(top(1));
  }
  else
  {
    track_msg.box_2D.width = int(std::abs((top - bottom)(0)));
    track_msg.box_2D.height = track_msg.box_2D.width / 2;
    track_msg.box_2D.x = int(top(0)) - track_msg.box_2D.width;
    track_msg.box_2D.y = int(top(1)) - track_msg.box_2D.width / 4;
  }
  track_msg.joints.resize(joint_tracks_.size());
  //  SkeletonTrack::bodyPoseMsgToTrackerMsg(track_msg);
  for(size_t i = 0; i < SkeletonJoints::SIZE; ++i)
  {
    Track3D* t = joint_tracks_[i];
    double jx, jy, jz;
    t -> getState(jx, jy, jz);
    opt_msgs::Track3D m;
    m.confidence = 1.0;
    m.x = jx;
    m.y = jy;
    m.z = jz;
    m.id = i;
    track_msg.joints[i] = m;
  }
}

//void