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gstzedmeta.h
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gstzedmeta.h
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// /////////////////////////////////////////////////////////////////////////
//
// Copyright (c) 2024, STEREOLABS.
//
// All rights reserved.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// /////////////////////////////////////////////////////////////////////////
#ifndef GSTZEDMETA_H
#define GSTZEDMETA_H
#include <gst/gst.h>
#include <vector>
G_BEGIN_DECLS
typedef struct _GstZedSrcMeta GstZedSrcMeta;
typedef struct _ZedInfo ZedInfo;
typedef struct _ZedPose ZedPose;
typedef struct _ZedSensors ZedSensors;
typedef struct _ZedImu ZedImu;
typedef struct _ZedMag ZedMag;
typedef struct _ZedEnv ZedEnv;
typedef struct _ZedCamTemp ZedCamTemp;
typedef struct _ZedObjectData ZedObjectData;
struct _ZedInfo {
gint cam_model;
gint stream_type;
guint grab_single_frame_width;
guint grab_single_frame_height;
};
struct _ZedPose {
gboolean pose_avail;
gint pos_tracking_state;
gfloat pos[3];
gfloat orient[3];
};
struct _ZedImu {
gboolean imu_avail;
gfloat acc[3];
gfloat gyro[3];
gfloat temp;
};
struct _ZedMag {
gboolean mag_avail;
gfloat mag[3];
};
struct _ZedEnv {
gboolean env_avail;
gfloat press;
gfloat temp;
};
struct _ZedCamTemp {
gboolean temp_avail;
gfloat temp_cam_left;
gfloat temp_cam_right;
};
struct _ZedSensors {
gboolean sens_avail;
ZedImu imu;
ZedMag mag;
ZedEnv env;
ZedCamTemp temp;
};
enum class OBJECT_CLASS {
PERSON = 0, /**< For people detection */
VEHICLE = 1, /**< For vehicle detection. It can be cars, trucks, buses, motorcycles etc */
BAG = 2, /**< For bag detection (backpack, handbag, suitcase) */
ANIMAL = 3, /**< For animal detection (cow, sheep, horse, dog, cat, bird, etc) */
ELECTRONICS = 4, /**< For electronic device detection (cellphone, laptop, etc) */
FRUIT_VEGETABLE = 5, /**< For fruit and vegetable detection (banana, apple, orange, carrot, etc) */
SPORT = 6, /**< For sport-related object detection (sportball) */
LAST
};
enum class OBJECT_SUBCLASS {
PERSON = 0, /**< PERSON / PERSON_BODY */
PERSON_HEAD = 22, /**< PERSON */
BICYCLE = 1, /**< VEHICLE */
CAR = 2, /**< VEHICLE */
MOTORBIKE = 3, /**< VEHICLE */
BUS = 4, /**< VEHICLE */
TRUCK = 5, /**< VEHICLE */
BOAT = 6, /**< VEHICLE */
BACKPACK = 7, /**< BAG */
HANDBAG = 8, /**< BAG */
SUITCASE = 9, /**< BAG */
BIRD = 10, /**< ANIMAL */
CAT = 11, /**< ANIMAL */
DOG = 12, /**< ANIMAL */
HORSE = 13, /**< ANIMAL */
SHEEP = 14, /**< ANIMAL */
COW = 15, /**< ANIMAL */
CELLPHONE = 16, /**< ELECTRONICS */
LAPTOP = 17, /**< ELECTRONICS */
BANANA = 18, /**< FRUIT/VEGETABLE */
APPLE = 19, /**< FRUIT/VEGETABLE */
ORANGE = 20, /**< FRUIT/VEGETABLE */
CARROT = 21, /**< FRUIT/VEGETABLE */
SPORTSBALL = 23, /**< SPORT */
LAST
};
enum class OBJECT_TRACKING_STATE {
OFF, /**< The tracking is not yet initialized, the object ID is not usable */
OK, /**< The object is tracked */
SEARCHING, /**< The object couldn't be detected in the image and is potentially occluded, the trajectory is estimated */
TERMINATE, /**< This is the last searching state of the track, the track will be deleted in the next retreiveObject */
LAST
};
enum class OBJECT_ACTION_STATE {
IDLE = 0, /**< The object is staying static. */
MOVING = 1, /**< The object is moving. */
LAST
};
struct _ZedObjectData {
gint id;
OBJECT_CLASS label;
OBJECT_SUBCLASS sublabel;
OBJECT_TRACKING_STATE tracking_state;
OBJECT_ACTION_STATE action_state;
gfloat confidence;
gfloat position[3];
gfloat position_covariance[6];
gfloat velocity[3];
unsigned int bounding_box_2d[4][2];
/* 3D bounding box of the person represented as eight 3D points
1 ------ 2
/ /|
0 ------ 3 |
| Object | 6
| |/
4 ------ 7
*/
gfloat bounding_box_3d[8][3];
gfloat dimensions[3]; // 3D object dimensions: width, height, length
gboolean skeletons_avail;
gint skel_format; // indicates if it's 18, 34, 38, or 70 skeleton model
gfloat keypoint_2d[70][2]; // Negative coordinates -> point not valid
gfloat keypoint_3d[70][3]; // Nan coordinates -> point not valid
gfloat head_bounding_box_2d[4][2];
gfloat head_bounding_box_3d[8][3];
gfloat head_position[3];
};
struct _GstZedSrcMeta {
GstMeta meta;
ZedInfo info;
ZedPose pose;
ZedSensors sens;
gboolean od_enabled;
guint8 obj_count;
guint64 frame_id;
ZedObjectData objects[256];
};
namespace skeleton {
enum class BODY_18_PARTS {
NOSE = 0,
NECK = 1,
RIGHT_SHOULDER = 2,
RIGHT_ELBOW = 3,
RIGHT_WRIST = 4,
LEFT_SHOULDER = 5,
LEFT_ELBOW = 6,
LEFT_WRIST = 7,
RIGHT_HIP = 8,
RIGHT_KNEE = 9,
RIGHT_ANKLE = 10,
LEFT_HIP = 11,
LEFT_KNEE = 12,
LEFT_ANKLE = 13,
RIGHT_EYE = 14,
LEFT_EYE = 15,
RIGHT_EAR = 16,
LEFT_EAR = 17,
LAST = 18
};
inline int getIdx_18(BODY_18_PARTS part) { return static_cast<int>(part); }
enum class BODY_34_PARTS {
PELVIS = 0,
NAVAL_SPINE = 1,
CHEST_SPINE = 2,
NECK = 3,
LEFT_CLAVICLE = 4,
LEFT_SHOULDER = 5,
LEFT_ELBOW = 6,
LEFT_WRIST = 7,
LEFT_HAND = 8,
LEFT_HANDTIP = 9,
LEFT_THUMB = 10,
RIGHT_CLAVICLE = 11,
RIGHT_SHOULDER = 12,
RIGHT_ELBOW = 13,
RIGHT_WRIST = 14,
RIGHT_HAND = 15,
RIGHT_HANDTIP = 16,
RIGHT_THUMB = 17,
LEFT_HIP = 18,
LEFT_KNEE = 19,
LEFT_ANKLE = 20,
LEFT_FOOT = 21,
RIGHT_HIP = 22,
RIGHT_KNEE = 23,
RIGHT_ANKLE = 24,
RIGHT_FOOT = 25,
HEAD = 26,
NOSE = 27,
LEFT_EYE = 28,
LEFT_EAR = 29,
RIGHT_EYE = 30,
RIGHT_EAR = 31,
LEFT_HEEL = 32,
RIGHT_HEEL = 33,
LAST = 34
};
inline int getIdx_34(BODY_34_PARTS part) { return static_cast<int>(part); }
enum class BODY_38_PARTS {
PELVIS = 0,
SPINE_1 = 1,
SPINE_2 = 2,
SPINE_3 = 3,
NECK = 4,
NOSE = 5,
LEFT_EYE = 6,
RIGHT_EYE = 7,
LEFT_EAR = 8,
RIGHT_EAR = 9,
LEFT_CLAVICLE = 10,
RIGHT_CLAVICLE = 11,
LEFT_SHOULDER = 12,
RIGHT_SHOULDER = 13,
LEFT_ELBOW = 14,
RIGHT_ELBOW = 15,
LEFT_WRIST = 16,
RIGHT_WRIST = 17,
LEFT_HIP = 18,
RIGHT_HIP = 19,
LEFT_KNEE = 20,
RIGHT_KNEE = 21,
LEFT_ANKLE = 22,
RIGHT_ANKLE = 23,
LEFT_BIG_TOE = 24,
RIGHT_BIG_TOE = 25,
LEFT_SMALL_TOE = 26,
RIGHT_SMALL_TOE = 27,
LEFT_HEEL = 28,
RIGHT_HEEL = 29,
// Hands
LEFT_HAND_THUMB_4 = 30, // tip
RIGHT_HAND_THUMB_4 = 31,
LEFT_HAND_INDEX_1 = 32, // knuckle
RIGHT_HAND_INDEX_1 = 33,
LEFT_HAND_MIDDLE_4 = 34, // tip
RIGHT_HAND_MIDDLE_4 = 35,
LEFT_HAND_PINKY_1 = 36, // knuckle
RIGHT_HAND_PINKY_1 = 37,
LAST = 38
};
inline int getIdx_38(BODY_38_PARTS part) { return static_cast<int>(part); }
enum class BODY_70_PARTS {
PELVIS = 0,
SPINE_1 = 1,
SPINE_2 = 2,
SPINE_3 = 3,
NECK = 4,
NOSE = 5,
LEFT_EYE = 6,
RIGHT_EYE = 7,
LEFT_EAR = 8,
RIGHT_EAR = 9,
LEFT_CLAVICLE = 10,
RIGHT_CLAVICLE = 11,
LEFT_SHOULDER = 12,
RIGHT_SHOULDER = 13,
LEFT_ELBOW = 14,
RIGHT_ELBOW = 15,
LEFT_WRIST = 16,
RIGHT_WRIST = 17,
LEFT_HIP = 18,
RIGHT_HIP = 19,
LEFT_KNEE = 20,
RIGHT_KNEE = 21,
LEFT_ANKLE = 22,
RIGHT_ANKLE = 23,
LEFT_BIG_TOE = 24,
RIGHT_BIG_TOE = 25,
LEFT_SMALL_TOE = 26,
RIGHT_SMALL_TOE = 27,
LEFT_HEEL = 28,
RIGHT_HEEL = 29,
// Hands
// Left
LEFT_HAND_THUMB_1 = 30,
LEFT_HAND_THUMB_2 = 31,
LEFT_HAND_THUMB_3 = 32,
LEFT_HAND_THUMB_4 = 33, // tip
LEFT_HAND_INDEX_1 = 34, // knuckle
LEFT_HAND_INDEX_2 = 35,
LEFT_HAND_INDEX_3 = 36,
LEFT_HAND_INDEX_4 = 37, // tip
LEFT_HAND_MIDDLE_1 = 38,
LEFT_HAND_MIDDLE_2 = 39,
LEFT_HAND_MIDDLE_3 = 40,
LEFT_HAND_MIDDLE_4 = 41,
LEFT_HAND_RING_1 = 42,
LEFT_HAND_RING_2 = 43,
LEFT_HAND_RING_3 = 44,
LEFT_HAND_RING_4 = 45,
LEFT_HAND_PINKY_1 = 46,
LEFT_HAND_PINKY_2 = 47,
LEFT_HAND_PINKY_3 = 48,
LEFT_HAND_PINKY_4 = 49,
// Right
RIGHT_HAND_THUMB_1 = 50,
RIGHT_HAND_THUMB_2 = 51,
RIGHT_HAND_THUMB_3 = 52,
RIGHT_HAND_THUMB_4 = 53,
RIGHT_HAND_INDEX_1 = 54,
RIGHT_HAND_INDEX_2 = 55,
RIGHT_HAND_INDEX_3 = 56,
RIGHT_HAND_INDEX_4 = 57,
RIGHT_HAND_MIDDLE_1 = 58,
RIGHT_HAND_MIDDLE_2 = 59,
RIGHT_HAND_MIDDLE_3 = 60,
RIGHT_HAND_MIDDLE_4 = 61,
RIGHT_HAND_RING_1 = 62,
RIGHT_HAND_RING_2 = 63,
RIGHT_HAND_RING_3 = 64,
RIGHT_HAND_RING_4 = 65,
RIGHT_HAND_PINKY_1 = 66,
RIGHT_HAND_PINKY_2 = 67,
RIGHT_HAND_PINKY_3 = 68,
RIGHT_HAND_PINKY_4 = 69,
LAST = 70
};
inline int getIdx_70(BODY_70_PARTS part) { return static_cast<int>(part); }
const std::vector<std::pair<BODY_18_PARTS, BODY_18_PARTS>> BODY_18_BONES{{BODY_18_PARTS::NOSE, BODY_18_PARTS::NECK},
{BODY_18_PARTS::NECK, BODY_18_PARTS::RIGHT_SHOULDER},
{BODY_18_PARTS::RIGHT_SHOULDER, BODY_18_PARTS::RIGHT_ELBOW},
{BODY_18_PARTS::RIGHT_ELBOW, BODY_18_PARTS::RIGHT_WRIST},
{BODY_18_PARTS::NECK, BODY_18_PARTS::LEFT_SHOULDER},
{BODY_18_PARTS::LEFT_SHOULDER, BODY_18_PARTS::LEFT_ELBOW},
{BODY_18_PARTS::LEFT_ELBOW, BODY_18_PARTS::LEFT_WRIST},
{BODY_18_PARTS::RIGHT_SHOULDER, BODY_18_PARTS::RIGHT_HIP},
{BODY_18_PARTS::RIGHT_HIP, BODY_18_PARTS::RIGHT_KNEE},
{BODY_18_PARTS::RIGHT_KNEE, BODY_18_PARTS::RIGHT_ANKLE},
{BODY_18_PARTS::LEFT_SHOULDER, BODY_18_PARTS::LEFT_HIP},
{BODY_18_PARTS::LEFT_HIP, BODY_18_PARTS::LEFT_KNEE},
{BODY_18_PARTS::LEFT_KNEE, BODY_18_PARTS::LEFT_ANKLE},
{BODY_18_PARTS::RIGHT_SHOULDER, BODY_18_PARTS::LEFT_SHOULDER},
{BODY_18_PARTS::RIGHT_HIP, BODY_18_PARTS::LEFT_HIP},
{BODY_18_PARTS::NOSE, BODY_18_PARTS::RIGHT_EYE},
{BODY_18_PARTS::RIGHT_EYE, BODY_18_PARTS::RIGHT_EAR},
{BODY_18_PARTS::NOSE, BODY_18_PARTS::LEFT_EYE},
{BODY_18_PARTS::LEFT_EYE, BODY_18_PARTS::LEFT_EAR}};
const std::vector<std::pair<BODY_34_PARTS, BODY_34_PARTS>> BODY_34_BONES{{BODY_34_PARTS::PELVIS, BODY_34_PARTS::NAVAL_SPINE},
{BODY_34_PARTS::NAVAL_SPINE, BODY_34_PARTS::CHEST_SPINE},
{BODY_34_PARTS::CHEST_SPINE, BODY_34_PARTS::LEFT_CLAVICLE},
{BODY_34_PARTS::LEFT_CLAVICLE, BODY_34_PARTS::LEFT_SHOULDER},
{BODY_34_PARTS::LEFT_SHOULDER, BODY_34_PARTS::LEFT_ELBOW},
{BODY_34_PARTS::LEFT_ELBOW, BODY_34_PARTS::LEFT_WRIST},
{BODY_34_PARTS::LEFT_WRIST, BODY_34_PARTS::LEFT_HAND},
{BODY_34_PARTS::LEFT_HAND, BODY_34_PARTS::LEFT_HANDTIP},
{BODY_34_PARTS::LEFT_WRIST, BODY_34_PARTS::LEFT_THUMB},
{BODY_34_PARTS::CHEST_SPINE, BODY_34_PARTS::RIGHT_CLAVICLE},
{BODY_34_PARTS::RIGHT_CLAVICLE, BODY_34_PARTS::RIGHT_SHOULDER},
{BODY_34_PARTS::RIGHT_SHOULDER, BODY_34_PARTS::RIGHT_ELBOW},
{BODY_34_PARTS::RIGHT_ELBOW, BODY_34_PARTS::RIGHT_WRIST},
{BODY_34_PARTS::RIGHT_WRIST, BODY_34_PARTS::RIGHT_HAND},
{BODY_34_PARTS::RIGHT_HAND, BODY_34_PARTS::RIGHT_HANDTIP},
{BODY_34_PARTS::RIGHT_WRIST, BODY_34_PARTS::RIGHT_THUMB},
{BODY_34_PARTS::PELVIS, BODY_34_PARTS::LEFT_HIP},
{BODY_34_PARTS::LEFT_HIP, BODY_34_PARTS::LEFT_KNEE},
{BODY_34_PARTS::LEFT_KNEE, BODY_34_PARTS::LEFT_ANKLE},
{BODY_34_PARTS::LEFT_ANKLE, BODY_34_PARTS::LEFT_FOOT},
{BODY_34_PARTS::PELVIS, BODY_34_PARTS::RIGHT_HIP},
{BODY_34_PARTS::RIGHT_HIP, BODY_34_PARTS::RIGHT_KNEE},
{BODY_34_PARTS::RIGHT_KNEE, BODY_34_PARTS::RIGHT_ANKLE},
{BODY_34_PARTS::RIGHT_ANKLE, BODY_34_PARTS::RIGHT_FOOT},
{BODY_34_PARTS::CHEST_SPINE, BODY_34_PARTS::NECK},
{BODY_34_PARTS::NECK, BODY_34_PARTS::HEAD},
{BODY_34_PARTS::HEAD, BODY_34_PARTS::NOSE},
{BODY_34_PARTS::NOSE, BODY_34_PARTS::LEFT_EYE},
{BODY_34_PARTS::LEFT_EYE, BODY_34_PARTS::LEFT_EAR},
{BODY_34_PARTS::NOSE, BODY_34_PARTS::RIGHT_EYE},
{BODY_34_PARTS::RIGHT_EYE, BODY_34_PARTS::RIGHT_EAR},
{BODY_34_PARTS::LEFT_ANKLE, BODY_34_PARTS::LEFT_HEEL},
{BODY_34_PARTS::RIGHT_ANKLE, BODY_34_PARTS::RIGHT_HEEL},
{BODY_34_PARTS::LEFT_HEEL, BODY_34_PARTS::LEFT_FOOT},
{BODY_34_PARTS::RIGHT_HEEL, BODY_34_PARTS::RIGHT_FOOT}};
const std::vector<std::pair<BODY_38_PARTS, BODY_38_PARTS>> BODY_38_BONES{
{BODY_38_PARTS::PELVIS, BODY_38_PARTS::SPINE_1},
{BODY_38_PARTS::SPINE_1, BODY_38_PARTS::SPINE_2},
{BODY_38_PARTS::SPINE_2, BODY_38_PARTS::SPINE_3},
{BODY_38_PARTS::SPINE_3, BODY_38_PARTS::NECK},
// Face
{BODY_38_PARTS::NECK, BODY_38_PARTS::NOSE},
{BODY_38_PARTS::NOSE, BODY_38_PARTS::LEFT_EYE},
{BODY_38_PARTS::LEFT_EYE, BODY_38_PARTS::LEFT_EAR},
{BODY_38_PARTS::NOSE, BODY_38_PARTS::RIGHT_EYE},
{BODY_38_PARTS::RIGHT_EYE, BODY_38_PARTS::RIGHT_EAR},
// Left arm
{BODY_38_PARTS::SPINE_3, BODY_38_PARTS::LEFT_CLAVICLE},
{BODY_38_PARTS::LEFT_CLAVICLE, BODY_38_PARTS::LEFT_SHOULDER},
{BODY_38_PARTS::LEFT_SHOULDER, BODY_38_PARTS::LEFT_ELBOW},
{BODY_38_PARTS::LEFT_ELBOW, BODY_38_PARTS::LEFT_WRIST},
{BODY_38_PARTS::LEFT_WRIST, BODY_38_PARTS::LEFT_HAND_THUMB_4},
{BODY_38_PARTS::LEFT_WRIST, BODY_38_PARTS::LEFT_HAND_INDEX_1},
{BODY_38_PARTS::LEFT_WRIST, BODY_38_PARTS::LEFT_HAND_MIDDLE_4},
{BODY_38_PARTS::LEFT_WRIST, BODY_38_PARTS::LEFT_HAND_PINKY_1},
// Right arm
{BODY_38_PARTS::SPINE_3, BODY_38_PARTS::RIGHT_CLAVICLE},
{BODY_38_PARTS::RIGHT_CLAVICLE, BODY_38_PARTS::RIGHT_SHOULDER},
{BODY_38_PARTS::RIGHT_SHOULDER, BODY_38_PARTS::RIGHT_ELBOW},
{BODY_38_PARTS::RIGHT_ELBOW, BODY_38_PARTS::RIGHT_WRIST},
{BODY_38_PARTS::RIGHT_WRIST, BODY_38_PARTS::RIGHT_HAND_THUMB_4},
{BODY_38_PARTS::RIGHT_WRIST, BODY_38_PARTS::RIGHT_HAND_INDEX_1},
{BODY_38_PARTS::RIGHT_WRIST, BODY_38_PARTS::RIGHT_HAND_MIDDLE_4},
{BODY_38_PARTS::RIGHT_WRIST, BODY_38_PARTS::RIGHT_HAND_PINKY_1},
// Left leg
{BODY_38_PARTS::PELVIS, BODY_38_PARTS::LEFT_HIP},
{BODY_38_PARTS::LEFT_HIP, BODY_38_PARTS::LEFT_KNEE},
{BODY_38_PARTS::LEFT_KNEE, BODY_38_PARTS::LEFT_ANKLE},
{BODY_38_PARTS::LEFT_ANKLE, BODY_38_PARTS::LEFT_HEEL},
{BODY_38_PARTS::LEFT_ANKLE, BODY_38_PARTS::LEFT_BIG_TOE},
{BODY_38_PARTS::LEFT_ANKLE, BODY_38_PARTS::LEFT_SMALL_TOE},
// Right leg
{BODY_38_PARTS::PELVIS, BODY_38_PARTS::RIGHT_HIP},
{BODY_38_PARTS::RIGHT_HIP, BODY_38_PARTS::RIGHT_KNEE},
{BODY_38_PARTS::RIGHT_KNEE, BODY_38_PARTS::RIGHT_ANKLE},
{BODY_38_PARTS::RIGHT_ANKLE, BODY_38_PARTS::RIGHT_HEEL},
{BODY_38_PARTS::RIGHT_ANKLE, BODY_38_PARTS::RIGHT_BIG_TOE},
{BODY_38_PARTS::RIGHT_ANKLE, BODY_38_PARTS::RIGHT_SMALL_TOE},
};
const std::vector<std::pair<BODY_70_PARTS, BODY_70_PARTS>> BODY_70_BONES{
{BODY_70_PARTS::PELVIS, BODY_70_PARTS::SPINE_1},
{BODY_70_PARTS::SPINE_1, BODY_70_PARTS::SPINE_2},
{BODY_70_PARTS::SPINE_2, BODY_70_PARTS::SPINE_3},
{BODY_70_PARTS::SPINE_3, BODY_70_PARTS::NECK},
// Face
{BODY_70_PARTS::NECK, BODY_70_PARTS::NOSE},
{BODY_70_PARTS::NOSE, BODY_70_PARTS::LEFT_EYE},
{BODY_70_PARTS::LEFT_EYE, BODY_70_PARTS::LEFT_EAR},
{BODY_70_PARTS::NOSE, BODY_70_PARTS::RIGHT_EYE},
{BODY_70_PARTS::RIGHT_EYE, BODY_70_PARTS::RIGHT_EAR},
// Left arm
{BODY_70_PARTS::SPINE_3, BODY_70_PARTS::LEFT_CLAVICLE},
{BODY_70_PARTS::LEFT_CLAVICLE, BODY_70_PARTS::LEFT_SHOULDER},
{BODY_70_PARTS::LEFT_SHOULDER, BODY_70_PARTS::LEFT_ELBOW},
{BODY_70_PARTS::LEFT_ELBOW, BODY_70_PARTS::LEFT_WRIST},
// Left hand
{BODY_70_PARTS::LEFT_WRIST, BODY_70_PARTS::LEFT_HAND_THUMB_1},
{BODY_70_PARTS::LEFT_WRIST, BODY_70_PARTS::LEFT_HAND_THUMB_2},
{BODY_70_PARTS::LEFT_WRIST, BODY_70_PARTS::LEFT_HAND_THUMB_3},
{BODY_70_PARTS::LEFT_WRIST, BODY_70_PARTS::LEFT_HAND_THUMB_4},
{BODY_70_PARTS::LEFT_WRIST, BODY_70_PARTS::LEFT_HAND_INDEX_1},
{BODY_70_PARTS::LEFT_WRIST, BODY_70_PARTS::LEFT_HAND_INDEX_2},
{BODY_70_PARTS::LEFT_WRIST, BODY_70_PARTS::LEFT_HAND_INDEX_3},
{BODY_70_PARTS::LEFT_WRIST, BODY_70_PARTS::LEFT_HAND_INDEX_4},
{BODY_70_PARTS::LEFT_WRIST, BODY_70_PARTS::LEFT_HAND_MIDDLE_1},
{BODY_70_PARTS::LEFT_WRIST, BODY_70_PARTS::LEFT_HAND_MIDDLE_2},
{BODY_70_PARTS::LEFT_WRIST, BODY_70_PARTS::LEFT_HAND_MIDDLE_3},
{BODY_70_PARTS::LEFT_WRIST, BODY_70_PARTS::LEFT_HAND_MIDDLE_4},
{BODY_70_PARTS::LEFT_WRIST, BODY_70_PARTS::LEFT_HAND_PINKY_1},
{BODY_70_PARTS::LEFT_WRIST, BODY_70_PARTS::LEFT_HAND_PINKY_2},
{BODY_70_PARTS::LEFT_WRIST, BODY_70_PARTS::LEFT_HAND_PINKY_3},
{BODY_70_PARTS::LEFT_WRIST, BODY_70_PARTS::LEFT_HAND_PINKY_4},
// Right arm
{BODY_70_PARTS::SPINE_3, BODY_70_PARTS::RIGHT_CLAVICLE},
{BODY_70_PARTS::RIGHT_CLAVICLE, BODY_70_PARTS::RIGHT_SHOULDER},
{BODY_70_PARTS::RIGHT_SHOULDER, BODY_70_PARTS::RIGHT_ELBOW},
{BODY_70_PARTS::RIGHT_ELBOW, BODY_70_PARTS::RIGHT_WRIST},
// Right hand
{BODY_70_PARTS::RIGHT_WRIST, BODY_70_PARTS::RIGHT_HAND_THUMB_1},
{BODY_70_PARTS::RIGHT_WRIST, BODY_70_PARTS::RIGHT_HAND_THUMB_2},
{BODY_70_PARTS::RIGHT_WRIST, BODY_70_PARTS::RIGHT_HAND_THUMB_3},
{BODY_70_PARTS::RIGHT_WRIST, BODY_70_PARTS::RIGHT_HAND_THUMB_4},
{BODY_70_PARTS::RIGHT_WRIST, BODY_70_PARTS::RIGHT_HAND_INDEX_1},
{BODY_70_PARTS::RIGHT_WRIST, BODY_70_PARTS::RIGHT_HAND_INDEX_2},
{BODY_70_PARTS::RIGHT_WRIST, BODY_70_PARTS::RIGHT_HAND_INDEX_3},
{BODY_70_PARTS::RIGHT_WRIST, BODY_70_PARTS::RIGHT_HAND_INDEX_4},
{BODY_70_PARTS::RIGHT_WRIST, BODY_70_PARTS::RIGHT_HAND_MIDDLE_1},
{BODY_70_PARTS::RIGHT_WRIST, BODY_70_PARTS::RIGHT_HAND_MIDDLE_2},
{BODY_70_PARTS::RIGHT_WRIST, BODY_70_PARTS::RIGHT_HAND_MIDDLE_3},
{BODY_70_PARTS::RIGHT_WRIST, BODY_70_PARTS::RIGHT_HAND_MIDDLE_4},
{BODY_70_PARTS::RIGHT_WRIST, BODY_70_PARTS::RIGHT_HAND_PINKY_1},
{BODY_70_PARTS::RIGHT_WRIST, BODY_70_PARTS::RIGHT_HAND_PINKY_2},
{BODY_70_PARTS::RIGHT_WRIST, BODY_70_PARTS::RIGHT_HAND_PINKY_3},
{BODY_70_PARTS::RIGHT_WRIST, BODY_70_PARTS::RIGHT_HAND_PINKY_4},
// Left leg
{BODY_70_PARTS::PELVIS, BODY_70_PARTS::LEFT_HIP},
{BODY_70_PARTS::LEFT_HIP, BODY_70_PARTS::LEFT_KNEE},
{BODY_70_PARTS::LEFT_KNEE, BODY_70_PARTS::LEFT_ANKLE},
{BODY_70_PARTS::LEFT_ANKLE, BODY_70_PARTS::LEFT_HEEL},
{BODY_70_PARTS::LEFT_ANKLE, BODY_70_PARTS::LEFT_BIG_TOE},
{BODY_70_PARTS::LEFT_ANKLE, BODY_70_PARTS::LEFT_SMALL_TOE},
// Right leg
{BODY_70_PARTS::PELVIS, BODY_70_PARTS::RIGHT_HIP},
{BODY_70_PARTS::RIGHT_HIP, BODY_70_PARTS::RIGHT_KNEE},
{BODY_70_PARTS::RIGHT_KNEE, BODY_70_PARTS::RIGHT_ANKLE},
{BODY_70_PARTS::RIGHT_ANKLE, BODY_70_PARTS::RIGHT_HEEL},
{BODY_70_PARTS::RIGHT_ANKLE, BODY_70_PARTS::RIGHT_BIG_TOE},
{BODY_70_PARTS::RIGHT_ANKLE, BODY_70_PARTS::RIGHT_SMALL_TOE},
};
} // namespace skeleton
GST_EXPORT
GType gst_zed_src_meta_api_get_type(void);
#define GST_ZED_SRC_META_API_TYPE (gst_zed_src_meta_api_get_type())
#define GST_ZED_SRC_META_INFO (gst_zed_src_meta_get_info())
#define gst_buffer_get_zed_src_meta(b) ((GstZedSrcMeta *) gst_buffer_get_meta((b), GST_ZED_SRC_META_API_TYPE))
/* implementation */
GST_EXPORT
const GstMetaInfo *gst_zed_src_meta_get_info(void);
#define GST_ZED_SRC_META_INFO (gst_zed_src_meta_get_info())
GST_EXPORT
GstZedSrcMeta *gst_buffer_add_zed_src_meta(GstBuffer *buffer, ZedInfo &info, ZedPose &pose, ZedSensors &sens, gboolean od_enabled, guint8 obj_count,
ZedObjectData *objects, guint64 frame_id);
G_END_DECLS
#endif