fix color definition of OpenPose to avoid map::at error when using the Nose...

fix color definition of OpenPose to avoid map::at error when using the Nose keypoint; now (again) matching the color convention of the main branch

source/VisionX/libraries/ArViz/HumanPoseBody25.cpp

@@ -2,6 +2,7 @@
 
 #include <RobotAPI/components/ArViz/Client/Elements.h>
 #include <VisionX/libraries/human/pose/model/openpose_body_25.h>
+#include <ArmarXCore/core/logging/Logging.h>
 
 
 namespace armarx::viz
@@ -14,6 +15,7 @@ namespace armarx::viz
                             armarx::viz::Layer& layer,
                             const std::string& prefix)
     {
+        ARMARX_TRACE;
         static const int segmentThickness = 20;
         static const int jointThickness = 30;
 

source/VisionX/libraries/human/pose/model/openpose_body_25.h

@@ -114,31 +114,32 @@ namespace armarx::human::pose::model::openpose_body_25
 
 
     inline const std::map<Joints, simox::Color> Colors = {
-        {Joints::Neck, {1.f, 0.f, 85.f / 255.f}},
-        {Joints::ShoulderRight, {1.f, 0.f, 0.f}},
-        {Joints::ElbowRight, {1.f, 85.f / 255.f, 0.f}},
-        {Joints::WristRight, {1.f, 170.f / 255.f, 0.f}},
-        {Joints::ShoulderLeft, {1.f, 1.f, 0.f}},
-        {Joints::ElbowLeft, {170.f / 255.f, 1.f, 0.f}},
-        {Joints::WristLeft, {85.f / 255.f, 1.f, 0.f}},
-        {Joints::Pelvis, {0.f, 1.f, 0.f}},
-        {Joints::HipRight, {1.f, 0.f, 0.f}},
-        {Joints::KneeRight, {0.f, 1.f, 85.f / 255.f}},
-        {Joints::AnkleRight, {0.f, 1.f, 170.f / 255.f}},
-        {Joints::HipLeft, {0.f, 1.f, 1.f}},
-        {Joints::KneeLeft, {0.f, 170.f / 255.f, 1.f}},
-        {Joints::AnkleLeft, {0.f, 85.f / 255.f, 1.f}},
-        {Joints::EyeRight, {0.f, 0.f, 1.f}},
-        {Joints::EyeLeft, {1.f, 0.f, 170.f / 255.f}},
-        {Joints::EarRight, {170.f / 255.f, 0.f, 1.f}},
-        {Joints::EarLeft, {1.f, 0.f, 1.f}},
-        {Joints::BigToeLeft, {85.f / 255.f, 0.f, 1.f}},
+        {Joints::Nose, {1.f, 0.f, 85.f / 255.f}},
+        {Joints::Neck, {1.f, 0.f, 0.f}},
+        {Joints::ShoulderRight, {1.f, 85.f / 255.f, 0.f}},
+        {Joints::ElbowRight, {1.f, 170.f / 255.f, 0.f}},
+        {Joints::WristRight, {1.f, 1.f, 0.f}},
+        {Joints::ShoulderLeft, {170.f / 255.f, 1.f, 0.f}},
+        {Joints::ElbowLeft, {85.f / 255.f, 1.f, 0.f}},
+        {Joints::WristLeft, {0.f, 1.f, 0.f}},
+        {Joints::Pelvis, {1.f, 0.f, 0.f}},
+        {Joints::HipRight, {0.f, 1.f, 85.f / 255.f}},
+        {Joints::KneeRight, {0.f, 1.f, 170.f / 255.f}},
+        {Joints::AnkleRight, {0.f, 1.f, 1.f}},
+        {Joints::HipLeft, {0.f, 170.f / 255.f, 1.f}},
+        {Joints::KneeLeft, {0.f, 85.f / 255.f, 1.f}},
+        {Joints::AnkleLeft, {0.f, 0.f, 1.f}},
+        {Joints::EyeRight, {1.f, 0.f, 170.f / 255.f}},
+        {Joints::EyeLeft, {170.f / 255.f, 0.f, 1.f}},
+        {Joints::EarRight, {1.f, 0.f, 1.f}},
+        {Joints::EarLeft, {85.f / 255.f, 0.f, 1.f}},
+        {Joints::BigToeLeft, {0.f, 0.f, 1.f}},
         {Joints::SmallToeLeft, {0.f, 0.f, 1.f}},
         {Joints::HeelLeft, {0.f, 0.f, 1.f}},
-        {Joints::BigToeRight, {0.f, 0.f, 1.f}},
+        {Joints::BigToeRight, {0.f, 1.f, 1.f}},
         {Joints::SmallToeRight, {0.f, 1.f, 1.f}},
-        {Joints::HeelRight, {0.f, 1.f, 1.f}},
-        {Joints::Background, {0.f, 1.f, 1.f}}};
+        {Joints::HeelRight, {0.f, 1.f, 1.f}}};
+        // Joints::Background has no color assigned
 
 
 } // namespace armarx::human::pose::model::openpose_body_25