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.
Note : In the config file of the openpose_3D_localization package, add the numbers 4, 7 in the points_of_interest in order for the 3D coordinates of the left wrist and shoulder to be available.