Wave -> Waving

people_recognition_3d/config/config.yaml

@@ -4,7 +4,7 @@ link_threshold: 0.5
 heuristic: "shoulder"
 arm_norm_threshold: 0.5
 neck_norm_threshold: 0.7
-wave_threshold: 0.2
+waving_threshold: 0.2
 vert_threshold: 0.7
 hor_threshold: 0.4
 padding: 5

people_recognition_3d/scripts/dummy_people_recognition_3d_node.py

@@ -38,7 +38,7 @@ def _generate_dummy_person3d(self, rgb, depth, cam_info, name=None):
         colors = ['black', 'orange', 'yellow']
         random.shuffle(colors)
         person.shirt_colors = colors
-        person.tags = ['LWave', 'RWave'] + random.choice([[], ["is_pointing"]])
+        person.tags = ['LWaving', 'RWaving'] + random.choice([[], ["is_pointing"]])
         # person.body_parts_pose
         person.position = Point()
         person.face.roi = RegionOfInterest(width=200, height=200)

people_recognition_3d/scripts/people_recognition_3d_node

@@ -24,7 +24,7 @@ class PeopleRecognition3DNode:
         heuristic = self._get_param('~heuristic', 'shoulder')
         arm_norm_threshold = self._get_param('~arm_norm_threshold', 0.5)
         neck_norm_threshold = self._get_param('~neck_norm_threshold', 0.7)
-        wave_threshold = self._get_param('~wave_threshold', 0.2)
+        waving_threshold = self._get_param('~waving_threshold', 0.2)
         vert_threshold = self._get_param('~vert_threshold', 0.7)
         hor_threshold = self._get_param('~hor_threshold', 0.4)
         padding = self._get_param('~padding', 5)
@@ -33,7 +33,7 @@ class PeopleRecognition3DNode:
 
         self._people_recognizer_3d = PeopleRecognizer3D(
             recognize_people_srv_name, probability_threshold, link_threshold,
-            heuristic, arm_norm_threshold, neck_norm_threshold, wave_threshold,
+            heuristic, arm_norm_threshold, neck_norm_threshold, waving_threshold,
             vert_threshold, hor_threshold, padding)
 
         self._markers_pub = rospy.Publisher('~viz',

people_recognition_3d/src/people_recognition_3d/people_recognizer_3d.py

@@ -171,7 +171,7 @@ def __init__(
         heuristic: str,
         arm_norm_threshold: float,
         neck_norm_threshold: float,
-        wave_threshold: float,
+        waving_threshold: float,
         vert_threshold: float,
         hor_threshold: float,
         padding: int,
@@ -187,7 +187,7 @@ def __init__(
         self._heuristic = heuristic
         self._arm_norm_threshold = arm_norm_threshold
         self._neck_norm_threshold = neck_norm_threshold
-        self._wave_threshold = wave_threshold
+        self._waving_threshold = waving_threshold
         self._vert_threshold = vert_threshold
         self._hor_threshold = hor_threshold
         self._padding = padding
@@ -451,7 +451,7 @@ def get_person_tags(self, skeleton: Skeleton) -> List[str]:
         """
         Method to get tags for a skeleton. The possible elements of the tag
         list are:
-            1. LWave/LPointing | RWave/RPointing
+            1. LWaving/LPointing | RWaving/RPointing
             2. LLaying/LSitting | RLaying/RSitting
             3. LHolding | RHolding
             4. LNotHolding | RNotHolding
@@ -475,9 +475,9 @@ def get_person_tags(self, skeleton: Skeleton) -> List[str]:
             except KeyError:
                 pass
             else:
-                if wrist.y < (shoulder.y - self._wave_threshold) and wrist.x < (
+                if wrist.y < (shoulder.y - self._waving_threshold) and wrist.x < (
                         shoulder.x + self._hor_threshold):
-                    tags.append(side + 'Wave')
+                    tags.append(side + 'Waving')
 
                 elif wrist.x > (shoulder.x + self._hor_threshold):
                     tags.append(side + 'Pointing')