body_types.h

// This file is part of the Orbbec Astra SDK [https://orbbec3d.com]
// Copyright (c) 2015-2017 Orbbec 3D
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Be excellent to each other.
#ifndef BODY_TYPES_H
#define BODY_TYPES_H
 
#include <astra_core/capi/astra_types.h>
#include <astra/capi/astra_ctypes.h>
 
#define ASTRA_MAX_JOINTS 19
 
#define ASTRA_INVALID_BODY_ID 0
#define ASTRA_MIN_BODY_ID 1
#define ASTRA_MAX_BODY_ID 255
#define ASTRA_MAX_BODIES 6
 
#define ASTRA_TEMP_IMAGE_WIDTH 640
#define ASTRA_TEMP_IMAGE_HEIGHT 480
#define ASTRA_TEMP_IMAGE_LENGTH ASTRA_TEMP_IMAGE_WIDTH*ASTRA_TEMP_IMAGE_HEIGHT
 
typedef enum _astra_joint_type {
    ASTRA_JOINT_HEAD              = 0,
    ASTRA_JOINT_SHOULDER_SPINE    = 1,
    ASTRA_JOINT_LEFT_SHOULDER     = 2,
    ASTRA_JOINT_LEFT_ELBOW        = 3,
    ASTRA_JOINT_LEFT_HAND         = 4,
    ASTRA_JOINT_RIGHT_SHOULDER    = 5,
    ASTRA_JOINT_RIGHT_ELBOW       = 6,
    ASTRA_JOINT_RIGHT_HAND        = 7,
    ASTRA_JOINT_MID_SPINE         = 8,
    ASTRA_JOINT_BASE_SPINE        = 9,
    ASTRA_JOINT_LEFT_HIP          = 10,
    ASTRA_JOINT_LEFT_KNEE         = 11,
    ASTRA_JOINT_LEFT_FOOT         = 12,
    ASTRA_JOINT_RIGHT_HIP         = 13,
    ASTRA_JOINT_RIGHT_KNEE        = 14,
    ASTRA_JOINT_RIGHT_FOOT        = 15,
    ASTRA_JOINT_LEFT_WRIST        = 16,
    ASTRA_JOINT_RIGHT_WRIST       = 17,
    ASTRA_JOINT_NECK              = 18,
    ASTRA_JOINT_UNKNOWN           = 255,
} astra_joint_type_v;
 
typedef uint8_t astra_joint_type_t;
 
typedef enum _astra_joint_status {
    ASTRA_JOINT_STATUS_NOT_TRACKED    = 0,
    ASTRA_JOINT_STATUS_LOW_CONFIDENCE = 1,
    ASTRA_JOINT_STATUS_TRACKED        = 2,
} astra_joint_status_v;
 
typedef uint8_t astra_joint_status_t;
 
typedef struct _astra_joint {
    astra_joint_type_t type;
    astra_joint_status_t status;
    astra_vector2f_t depthPosition;
    astra_vector3f_t worldPosition;
    // TODO: is this rotation relative to the parent? is Y up?
    astra_matrix3x3_t orientation;
} astra_joint_t;
 
typedef enum _astra_body_status {
    ASTRA_BODY_STATUS_NOT_TRACKING = 0,
    ASTRA_BODY_STATUS_LOST = 1,
    ASTRA_BODY_STATUS_TRACKING_STARTED = 2,
    ASTRA_BODY_STATUS_TRACKING = 3,
} astra_body_status_v;
 
typedef uint8_t astra_body_status_t;
 
typedef enum _astra_handpose {
    ASTRA_HANDPOSE_UNKNOWN = 0,
    ASTRA_HANDPOSE_GRIP = 1
} astra_handpose_v;
 
typedef uint8_t astra_handpose_t;
 
typedef struct _astra_handpose_info {
    astra_handpose_t leftHand;
    astra_handpose_t rightHand;
} astra_handpose_info_t;
 
typedef enum _astra_body_features {
    ASTRA_BODY_TRACKING_SEGMENTATION = 0,
    ASTRA_BODY_TRACKING_JOINTS = 1,
    ASTRA_BODY_TRACKING_HAND_POSES = 3
} astra_body_tracking_feature_flags_v;
 
typedef uint32_t astra_body_tracking_feature_flags_t;
 
typedef enum _astra_skeleton_profile {
    ASTRA_SKELETON_PROFILE_FULL = 0,
    ASTRA_SKELETON_PROFILE_UPPER_BODY = 1,
    ASTRA_SKELETON_PROFILE_BASIC = 2
} astra_skeleton_profile_v;
 
typedef uint32_t astra_skeleton_profile_t;
 
typedef enum _astra_skeleton_optimization {
    ASTRA_SKELETON_OPTIMIZATION_1 = 1,
    ASTRA_SKELETON_OPTIMIZATION_MINIMIZE_MEMORY = 2,
    ASTRA_SKELETON_OPTIMIZATION_2 = 2,
    ASTRA_SKELETON_OPTIMIZATION_3 = 3,
    ASTRA_SKELETON_OPTIMIZATION_4 = 4,
    ASTRA_SKELETON_OPTIMIZATION_BALANCED = 5,
    ASTRA_SKELETON_OPTIMIZATION_5 = 5,
    ASTRA_SKELETON_OPTIMIZATION_6 = 6,
    ASTRA_SKELETON_OPTIMIZATION_7 = 7,
    ASTRA_SKELETON_OPTIMIZATION_8 = 8,
    ASTRA_SKELETON_OPTIMIZATION_9 = 9,
    ASTRA_SKELETON_OPTIMIZATION_BEST_ACCURACY = 9,
} astra_skeleton_optimization_v;
 
 
typedef uint32_t astra_skeleton_optimization_t;
 
typedef enum _astra_body_orientation {
    ASTRA_BODY_ORIENTATION_TOP = 0,
    ASTRA_BODY_ORIENTATION_LEFT = 1,
    ASTRA_BODY_ORIENTATION_RIGHT = 2,
} astra_body_orientation_v;
 
typedef uint32_t astra_body_orientation_t;
 
typedef uint8_t astra_body_id_t;
 
typedef struct _astra_body {
    astra_body_tracking_feature_flags_t features;
    astra_vector3f_t centerOfMass;
    astra_joint_t joints[ASTRA_MAX_JOINTS];
    astra_handpose_info_t handPoses;
    astra_body_id_t id;
    astra_body_status_t status;
} astra_body_t;
 
typedef struct _astra_body_list {
    // astra_body_t* bodies;
    astra_body_t bodies[ASTRA_MAX_BODIES];
    int32_t count;
} astra_body_list_t;
 
typedef struct _astra_bitmapmask {
    // uint8_t* data;
    uint8_t data[ASTRA_TEMP_IMAGE_LENGTH];
    int32_t width;
    int32_t height;
} astra_bitmapmask_t;
 
typedef astra_bitmapmask_t astra_bodymask_t;
typedef astra_bitmapmask_t astra_floormask_t;
 
typedef struct _astra_plane {
    float a;
    float b;
    float c;
    float d;
} astra_plane_t;
 
typedef struct _astra_bodyframe_info {
    int32_t width;
    int32_t height;
    int8_t isEstimated;
} astra_bodyframe_info_t;
 
typedef struct _astra_floor_info {
    astra_floormask_t floorMask;
    astra_plane_t floorPlane;
    astra_bool_t floorDetected;
} astra_floor_info_t;
 
typedef struct _astra_bodyframe* astra_bodyframe_t;
typedef astra_streamconnection_t astra_bodystream_t;
 
typedef struct {
    astra_body_id_t bodyId;
    astra_body_tracking_feature_flags_t feature;
} astra_body_feature_command_t;
 
#endif /* BODY_TYPES_H */