Extract torso and compute body orientation
The details and result can be found in the paper:
- M. R. Afsar1, M. Wadsworth, T. Shen, H. Zhang, C. Ye, X. Shen, โA Motorized Robotic Walker for Human Walking Assistance,โ ASME Journal of Medical Devices, 2017.
Main functions, include read data from camera, histogram filter, smooth (average filter), polyfit (curve), point cloud display
body_orientation_serial.cpp
body_orientation_serial_curve.cpp
Contains a polyfit function written in python script
Library of functions to access to realsense camera, including RealSense R200
Test the main functions from the data in disk.
Test of sending and receiving data through serial port
Estimate a scale value to align the estiamted angle with the true angle obtained from an external IMU