Merge branch 'OpenPose_report_2d_image_coordinates_to_memory' into 'master'

OpenPose report 2d image coordinates to memory

See merge request ArmarX/VisionX!137

source/VisionX/components/image_processor/OpenPoseEstimation/Memory/RGBDPoseEstimationWithMemoryWriter/RGBDPoseEstimationWithMemoryWriter.cpp

@@ -115,7 +115,19 @@ namespace armarx
                     posRobot.position = pos.toRootFrame(localRobot)->toEigen();
                     kp.positionRobot = posRobot;
 
-                    dto.keypoints[kp.label] = kp;
+                    armarx::human::arondto::Keypoint2D kp2;
+                    kp2.confidence = openposeResult[humanId].keypointMap[name].confidence;
+                    kp2.dominantColor.r = openposeResult[humanId].keypointMap[name].dominantColor.r;
+                    kp2.dominantColor.g = openposeResult[humanId].keypointMap[name].dominantColor.g;
+                    kp2.dominantColor.b = openposeResult[humanId].keypointMap[name].dominantColor.b;
+                    kp2.x = openposeResult[humanId].keypointMap[name].x;
+                    kp2.y = openposeResult[humanId].keypointMap[name].y;
+                    kp2.label = openposeResult[humanId].keypointMap[name].label;
+
+
+                    dto.keypoints3D[kp.label] = kp;
+                    dto.keypoints2D[kp.label] = kp2;
+
                 }
 
                 update.instancesData.push_back(dto.toAron());

source/VisionX/libraries/armem_human/aron/BODY_25Pose.xml

@@ -66,7 +66,12 @@
         </Object>
 
         <Object name='armarx::human::arondto::Body25Pose3D'>
-            <ObjectChild key="keypoints">
+            <ObjectChild key="keypoints2D">
+                <Dict>
+                    <armarx::human::arondto::Keypoint2D />
+                </Dict>
+            </ObjectChild>
+           <ObjectChild key="keypoints3D">
                 <Dict>
                     <armarx::human::arondto::Keypoint3D />
                 </Dict>