This PR adds up hip_center as a further pivot to check against skeleton temporal continuity.
In particular, shoulder_center will remain the main pivot, but if not available, hip_center will take over. This should make the check on temporal continuity more robust when the robot will be evaluating lower limbs.
@vvasco would you be willing to give this a whirl?
This PR adds up
hip_centeras a further pivot to check against skeleton temporal continuity.In particular,
shoulder_centerwill remain the main pivot, but if not available,hip_centerwill take over. This should make the check on temporal continuity more robust when the robot will be evaluating lower limbs.@vvasco would you be willing to give this a whirl?