Using 3D skeleton to detect hand up - Githubissues

robotology / assistive-rehab

Assistive and Rehabilitative Robotics

https://robotology.github.io/assistive-rehab/doc/mkdocs/site

BSD 3-Clause "New" or "Revised" License

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Using 3D skeleton to detect hand up #249

Closed vvasco closed 4 years ago

vvasco commented 4 years ago

This PR introduces a new modality to detect if the hand is raised, which relies on the normalized 3D skeleton and applies a threshold on the distance hand - elbow, computed on the z axis (with respect to the start-line). I introduced the flag detect-hand-up in managerTUG:

if set to true, managerTUG is in charge of detecting if the hand is raised using the 3D skeleton;
if set to false, we can rely on humanStructure, using 2D skeleton. I added a check in humanStructure, in order to avoid to send commands to googleSpeech if the trigger port is not connected.

pattacini commented 4 years ago

CI is currently broken on Ubuntu runners because of https://github.com/dotnet/core/issues/3988.