torso_extract

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, “A Motorized Robotic Walker for Human Walking Assistance,” ASME Journal of Medical Devices, 2017.

src

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

ipynb

Contains a polyfit function written in python script

librealsense

Library of functions to access to realsense camera, including RealSense R200

offline

Test the main functions from the data in disk.

read_serial_src & win_recv_serial

Test of sending and receiving data through serial port

scale

Estimate a scale value to align the estiamted angle with the true angle obtained from an external IMU