Merge branch 'fix/compile-and-check-for-keypoint' into 'master'

Add check if keypoint is available

See merge request !11

source/armarx/view_selection/components/person_target_provider/Component.cpp

@@ -158,7 +158,7 @@ namespace armarx::view_selection::components::person_target_provider
     {
         armarx::armem::human::client::Reader::Query query{
             .providerName = "OpenNIPointCloudProvider",
-            .timestamp = armarx::Clock::Now()
+            .timestamp = armarx::Clock::Now(),
         };
         armarx::core::time::StopWatch sw;
         auto result = humanPoseReaderPlugin->get().query(query);
@@ -168,12 +168,21 @@ namespace armarx::view_selection::components::person_target_provider
         std::vector<GazeTargetWithFeatures> gazeTargets(result.humanPoses.size());
         for (size_t i = 0; i < result.humanPoses.size(); i++)
         {
-            auto human = result.humanPoses[i];
+            const armem::human::HumanPose& human = result.humanPoses[i];
+            GazeTargetWithFeatures& target = gazeTargets[i];
 
-            // TODO check whether "Head" keypoint is available
-            gazeTargets[i].position = human.keypoint3dMap["Head"].positionGlobal;
-//            gazeTargets[i].trackingName = human.humanTrackingId.value_or("default_human");
-            gazeTargets[i].ishuman = true;
+            // Check whether "Head" keypoint is available
+            if (auto it = human.keypoint3dMap.find("Head"); it != human.keypoint3dMap.end())
+            {
+                const armem::human::Keypoint3D& kp = it->second;
+                target.position = kp.positionGlobal;
+                target.trackingName = "default_human";  // human.humanTrackingId.value_or("default_human");
+                target.ishuman = true;
+            }
+            else
+            {
+                // TODO: What if it is not?
+            }
         }
 
         return gazeTargets;