thanasists/keypoints_relative_pos

Check the relative position of 3D openpose keypoints

keypoints_relative_pos

Description

This package checks the relative position of the left wrist and the left shoulder keypoints and publishes a boolean value. The keypoints are expected to be the output of openpose_3D_localization.

Functionality

The relative wrist and shoulder positions are observed within a window of 5 observations. If the wrist position is higher than the shoulder position at least in 3 observations the boolean value is set to false, otherwise true. If at least one of the keypoints is unavailable (wrist or shoulder out of the camera field of view, or other unforeseen reasons), the boolean is set to true.