Add support for BODY_FORMAT::POSE_34

Author: Myzhar

msg/Object.msg

@@ -45,6 +45,11 @@ float32[3] dimensions_3d
 # Is skeleton available?
 bool skeleton_available
 
+# Skeleton format
+# 0 -> POSE_18
+# 2 -> POSE_34
+int8 body_format
+
 # 2D Bounding box projected to Camera image of the person head
 zed_interfaces/BoundingBox2Df head_bounding_box_2d
 

msg/Skeleton2D.msg

@@ -1,4 +1,4 @@
-# Skeleton joints indices
+# Skeleton joints indices for BODY_FORMAT::POSE_18
 #        16-14   15-17
 #             \ /
 #              0
@@ -18,4 +18,31 @@
 #            |   |
 #            |   |
 #           10   13
-zed_interfaces/Keypoint2Df[18] keypoints
+
+# Skeleton joints indices for BODY_FORMAT::POSE_34
+#                     30  28
+#                       \/
+#                   31  27  29
+#                    \  |  /
+#                       26
+#                       |
+# 16-15-14---13--12-11  03  04-05--06---07-08-09
+#       /             \ | /              \        #
+#      17               02                10
+#                       |
+#                       01
+#                       |
+#                       |
+#                    22-00-18
+#                     |    |
+#                     |    |
+#                     |    |
+#                    23    19
+#                     |    |
+#                     |    |
+#                     |    |
+#                    24    20
+#                     |    |
+#                    25    21
+
+zed_interfaces/Keypoint2Df[34] keypoints

msg/Skeleton3D.msg

@@ -1,4 +1,4 @@
-# Skeleton joints indices
+# Skeleton joints indices for BODY_FORMAT::POSE_18
 #        16-14   15-17
 #             \ /
 #              0
@@ -18,4 +18,31 @@
 #            |   |
 #            |   |
 #           10   13
-zed_interfaces/Keypoint3D[18] keypoints
+
+# Skeleton joints indices for BODY_FORMAT::POSE_34
+#                     30  28
+#                       \/
+#                   31  27  29
+#                    \  |  /
+#                       26
+#                       |
+# 16-15-14---13--12-11  03  04-05--06---07-08-09
+#       /             \ | /              \        #
+#      17               02                10
+#                       |
+#                       01
+#                       |
+#                       |
+#                    22-00-18
+#                     |    |
+#                     |    |
+#                     |    |
+#                    23    19
+#                     |    |
+#                     |    |
+#                     |    |
+#                    24    20
+#                     |    |
+#                    25    21
+
+zed_interfaces/Keypoint3D[34] keypoints