.. _package-rst-vision:
====================
Package rst.vision
====================
*Not documented*
Messages
========
.. container:: mess4ge-multi
.. container:: mess4ge-graph
.. digraph:: message_graph
fontname="Arial";
fontsize=11;
stylesheet="../_static/corlab.css";
node [fontsize=11]
node [fontname="Arial"]
edge [fontsize=11]
edge [fontname="Arial"]
"14" [label=<
| HeadObjects |
|
HeadObject | head_objects |
>,shape=box,style=filled,fillcolor="white"];
"15" [label=< | HeadObject |
|
TrackingInfo | tracking_info |
BoundingBox | region |
Vec3DFloat | position |
Vec3DFloat | pose |
LabeledFace | faces |
FLOAT32 | speaking_probability |
OCTET-VECTOR | vfoa_target |
ClassificationResult | identity |
ClassificationResult | gender |
ClassificationResult | age |
>,shape=box,style=filled,fillcolor="white"];
"18" [label=< | ClassificationResult |
|
OCTET-VECTOR | decided_class |
ClassWithProbability | classes |
>,shape=box,style=filled,fillcolor="white"];
"19" [label=< | ClassWithProbability |
|
OCTET-VECTOR | name |
FLOAT32 | confidence |
>,shape=box,style=filled,fillcolor="white"];
"17" [label=< | LabeledFace |
|
OCTET-VECTOR | label |
Face | face |
>,shape=box,style=filled,fillcolor="white"];
"16" [label=< | TrackingInfo |
|
UINT32 | id |
>,shape=box,style=filled,fillcolor="white"];
"9" [label=< | AugmentedPointCloudSet3DFloat |
|
AugmentedPointCloud3DFloat | clouds |
>,shape=box,style=filled,fillcolor="white"];
"10" [label=< | AugmentedPointCloud3DFloat |
|
PointCloud3DFloat | points |
Channel | channels |
>,shape=box,style=filled,fillcolor="white"];
"13" [label=< | Channel |
|
ASCII-STRING | name |
FLOAT32 | values |
>,shape=box,style=filled,fillcolor="white"];
"11" [label=< | PointCloud3DFloat |
|
Vec3DFloat | points |
>,shape=box,style=filled,fillcolor="white"];
"12" [label=< | Vec3DFloat |
|
FLOAT32 | x |
FLOAT32 | y |
FLOAT32 | z |
>,shape=box,style=filled,fillcolor="white"];
"7" [label=< | CalibrationMatrices |
|
CameraMatrix3x4 | left |
CameraMatrix3x4 | right |
>,shape=box,style=filled,fillcolor="white"];
"8" [label=< | CameraMatrix3x4 |
|
FLOAT32 | c11 |
FLOAT32 | c12 |
FLOAT32 | c13 |
FLOAT32 | c14 |
FLOAT32 | c21 |
FLOAT32 | c22 |
FLOAT32 | c23 |
FLOAT32 | c24 |
FLOAT32 | c31 |
FLOAT32 | c32 |
FLOAT32 | c33 |
FLOAT32 | c34 |
>,shape=box,style=filled,fillcolor="white"];
"1" [label=< | LocatedFace |
|
Face | face |
Translation | location |
Rotation | orientation |
>,shape=box,style=filled,fillcolor="white"];
"6" [label=< | Rotation |
|
FLOAT64 | qw |
FLOAT64 | qx |
FLOAT64 | qy |
FLOAT64 | qz |
ASCII-STRING | frame_id |
>,shape=box,style=filled,fillcolor="white"];
"5" [label=< | Translation |
|
FLOAT64 | x |
FLOAT64 | y |
FLOAT64 | z |
ASCII-STRING | frame_id |
>,shape=box,style=filled,fillcolor="white"];
"2" [label=< | Face |
|
BoundingBox | region |
FLOAT64 | confidence |
>,shape=box,style=filled,fillcolor="white"];
"3" [label=< | BoundingBox |
|
Vec2DInt | top_left |
UINT32 | width |
UINT32 | height |
UINT32 | image_width |
UINT32 | image_height |
>,shape=box,style=filled,fillcolor="white"];
"4" [label=< | Vec2DInt |
|
INT32 | x |
INT32 | y |
>,shape=box,style=filled,fillcolor="white"];
"14":head_objects -> "15" [];
"15" -> "17" [dir=both,arrowtail=odiamond];
"15":age -> "18" [];
"15":gender -> "18" [];
"15":identity -> "18" [];
"15":faces -> "17" [];
"15":pose -> "12" [];
"15":position -> "12" [];
"15":region -> "3" [];
"15":tracking_info -> "16" [];
"18" -> "19" [dir=both,arrowtail=odiamond];
"18":classes -> "19" [];
"17":face -> "2" [];
"9":clouds -> "10" [];
"10" -> "13" [dir=both,arrowtail=odiamond];
"10":channels -> "13" [];
"10":points -> "11" [];
"11":points -> "12" [];
"7":right -> "8" [];
"7":left -> "8" [];
"1":orientation -> "6" [];
"1":location -> "5" [];
"1":face -> "2" [];
"2":region -> "3" [];
"3":top_left -> "4" [];
.. container:: mess4ge-list
.. container:: messages
* :ref:`LocatedFace `
* :ref:`CalibrationMatrices `
* :ref:`AugmentedPointCloudSet3DFloat `
* :ref:`AugmentedPointCloud3DFloat `
* :ref:`HeadObjects `
* :ref:`HeadObject `
* :ref:`Face `
* :ref:`CameraMatrix3x4 `
.. container:: clearer
clearer: should be made invisible via css
.. _message-rst-vision-locatedface:
Message LocatedFace
-------------------
.. container:: message-rst-vision-locatedface-multi
.. container:: message-rst-vision-locatedface-documentation
.. py:class:: rst.vision.LocatedFace
This type extends the regular Face type with a 3D location.
.. codeauthor:: Leon Ziegler
.. py:attribute:: face
:type: :py:class:`rst.vision.Face`
The face as a part of an image.
.. py:attribute:: location
:type: :py:class:`rst.geometry.Translation`
The 3d location of the face.
.. py:attribute:: orientation
:type: :py:class:`rst.geometry.Rotation`
The 3d orientation of the face. The provided rotation should be passed
as a relative rotation from the default pose when the person looks
straight ahead. In this case the axes of the corresponding coordinate
system are defined as follows:
* x axis: points in the direction of the person's view
* y axis: points to the person's right side
* z axis: points downwards
.. container:: message-rst-vision-locatedface-source
:download:`Download this file /home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/vision/LocatedFace.proto>`
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/vision/LocatedFace.proto
:lines: 14-37
:language: protobuf
:emphasize-lines: 6-6,11-11,23-23
.. _message-rst-vision-calibrationmatrices:
Message CalibrationMatrices
---------------------------
.. container:: message-rst-vision-calibrationmatrices-multi
.. container:: message-rst-vision-calibrationmatrices-documentation
.. py:class:: rst.vision.CalibrationMatrices
A pair of 2D Points.
.. todo::
comment seems wrong
.. codeauthor:: Johannes Wienke
.. py:attribute:: left
:type: :py:class:`rst.vision.CameraMatrix3x4`
*Not documented*
.. py:attribute:: right
:type: :py:class:`rst.vision.CameraMatrix3x4`
*Not documented*
.. container:: message-rst-vision-calibrationmatrices-source
:download:`Download this file /home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/vision/CalibrationMatrices.proto>`
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/vision/CalibrationMatrices.proto
:lines: 13-19
:language: protobuf
:emphasize-lines: 3-3,5-5
.. _message-rst-vision-augmentedpointcloudset3dfloat:
Message AugmentedPointCloudSet3DFloat
-------------------------------------
.. container:: message-rst-vision-augmentedpointcloudset3dfloat-multi
.. container:: message-rst-vision-augmentedpointcloudset3dfloat-documentation
.. py:class:: rst.vision.AugmentedPointCloudSet3DFloat
A set of augmented 3D Point clouds.
.. codeauthor:: Jan Moringen
.. py:attribute:: clouds
:type: array of :py:class:`rst.vision.AugmentedPointCloud3DFloat`
Empty collection of clouds is allowed.
The order of cloud objects is not significant.
.. container:: message-rst-vision-augmentedpointcloudset3dfloat-source
:download:`Download this file /home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/vision/AugmentedPointCloudSet3DFloat.proto>`
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/vision/AugmentedPointCloudSet3DFloat.proto
:lines: 12-20
:language: protobuf
:emphasize-lines: 7-7
.. _message-rst-vision-augmentedpointcloud3dfloat:
Message AugmentedPointCloud3DFloat
----------------------------------
.. container:: message-rst-vision-augmentedpointcloud3dfloat-multi
.. container:: message-rst-vision-augmentedpointcloud3dfloat-documentation
.. py:class:: rst.vision.AugmentedPointCloud3DFloat
Associates a set of scalar values (such as color information) to
each point of a point cloud.
.. codeauthor:: Johannes Wienke
.. py:attribute:: points
:type: :py:class:`rst.geometry.PointCloud3DFloat`
Geometry of the point cloud augmented by the data in :py:attr:`channels `.
.. py:attribute:: channels
:type: array of :py:class:`rst.vision.AugmentedPointCloud3DFloat.Channel`
An optional set of scalar information to attach to each point
of the point cloud.
.. container:: message-rst-vision-augmentedpointcloud3dfloat-source
:download:`Download this file /home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/vision/AugmentedPointCloud3DFloat.proto>`
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/vision/AugmentedPointCloud3DFloat.proto
:lines: 13-70
:language: protobuf
:emphasize-lines: 50-50,56-56
.. _message-rst-vision-augmentedpointcloud3dfloat-channel:
Message Channel
---------------
.. container:: message-rst-vision-augmentedpointcloud3dfloat-channel-multi
.. container:: message-rst-vision-augmentedpointcloud3dfloat-channel-documentation
.. py:class:: rst.vision.AugmentedPointCloud3DFloat.Channel
One channel of color information attached to a set of 3D points.
Each channel contains a vector of the same size as the original point
cloud and attaches the value of one color channel to each point of the
target point cloud.
The following conventions for channel names and respective values exist:
"r", "g", "b"
RGB values represented between 0 and 1.
"intensity"
Grayscale image value. Between 0 and 1.
"u", "v"
Forms YUV color information in combination with an
"intensity" channel. Between 0 and 1.
Inspired by the design of the sensor_msgs/ChannelFloat32 ROS
message type.
.. py:attribute:: name
:type: :py:class:`ASCII-STRING`
The name of the color channel.
.. py:attribute:: values
:type: array of :py:class:`FLOAT32`
**Constraint**: ``len(value) = len(.points.points)``
The actual values for the represented color channel for
each point of the target point cloud.
N-th value is associated to n-th point in :py:attr:`points `.
.. container:: message-rst-vision-augmentedpointcloud3dfloat-channel-source
:download:`Download this file /home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/vision/AugmentedPointCloud3DFloat.proto>`
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/vision/AugmentedPointCloud3DFloat.proto
:lines: 40-56
:language: protobuf
:emphasize-lines: 6-6,15-15
.. _message-rst-vision-headobjects:
Message HeadObjects
-------------------
.. container:: message-rst-vision-headobjects-multi
.. container:: message-rst-vision-headobjects-documentation
.. py:class:: rst.vision.HeadObjects
A list of head objects.
.. codeauthor:: Vasil Khalidov
.. py:attribute:: head_objects
:type: array of :py:class:`rst.vision.HeadObject`
*Not documented*
.. container:: message-rst-vision-headobjects-source
:download:`Download this file /home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/vision/HeadObjects.proto>`
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/vision/HeadObjects.proto
:lines: 12-16
:language: protobuf
:emphasize-lines: 3-3
.. _message-rst-vision-headobject:
Message HeadObject
------------------
.. container:: message-rst-vision-headobject-multi
.. container:: message-rst-vision-headobject-documentation
.. py:class:: rst.vision.HeadObject
Focus on image coordinate systems (vision-based).
A head object represented by its ID, location in the image and head
rotation angles.
id : head object identifier
.. todo::
what does the above mean?
.. codeauthor:: Vasil Khalidov
.. py:attribute:: tracking_info
:type: :py:class:`rst.tracking.TrackingInfo`
*Not documented*
.. py:attribute:: region
:type: :py:class:`rst.geometry.BoundingBox`
Head location in the input image.
.. py:attribute:: position
:type: :py:class:`rst.math.Vec3DFloat`
*Not documented*
.. py:attribute:: pose
:type: :py:class:`rst.math.Vec3DFloat`
-> pan
Pan head rotation angle. Positive: person looks to her or his
right side.
-> tilt
Tilt head rotation angle. Positive: person looks up.
-> roll
Roll head rotation angle. Positive: person's head rolled to
his right shoulder.
.. py:attribute:: faces
:type: array of :py:class:`rst.vision.HeadObject.LabeledFace`
.. todo::
semantic description
Repeated field because in cases of stereo processing there
might be faces from both cameras.
.. py:attribute:: speaking_probability
:type: :py:class:`FLOAT32`
*Not documented*
.. py:attribute:: vfoa_target
:type: :py:class:`OCTET-VECTOR`
String description of the visual focus of attention of this
head.
.. py:attribute:: identity
:type: :py:class:`rst.classification.ClassificationResult`
*Not documented*
.. py:attribute:: gender
:type: :py:class:`rst.classification.ClassificationResult`
*Not documented*
.. py:attribute:: age
:type: :py:class:`rst.classification.ClassificationResult`
*Not documented*
.. container:: message-rst-vision-headobject-source
:download:`Download this file /home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/vision/HeadObject.proto>`
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/vision/HeadObject.proto
:lines: 22-80
:language: protobuf
:emphasize-lines: 3-3,8-8,10-10,27-27,43-43,45-45,51-51,53-53,55-55,57-57
.. _message-rst-vision-headobject-labeledface:
Message LabeledFace
-------------------
.. container:: message-rst-vision-headobject-labeledface-multi
.. container:: message-rst-vision-headobject-labeledface-documentation
.. py:class:: rst.vision.HeadObject.LabeledFace
*Not documented*
.. py:attribute:: label
:type: :py:class:`OCTET-VECTOR`
*Not documented*
.. py:attribute:: face
:type: :py:class:`rst.vision.Face`
*Not documented*
.. container:: message-rst-vision-headobject-labeledface-source
:download:`Download this file /home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/vision/HeadObject.proto>`
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/vision/HeadObject.proto
:lines: 50-56
:language: protobuf
:emphasize-lines: 3-3,5-5
.. _message-rst-vision-face:
Message Face
------------
.. container:: message-rst-vision-face-multi
.. container:: message-rst-vision-face-documentation
.. py:class:: rst.vision.Face
An object of this type represents a human face detected in an image.
The region of the image which corresponds to the face is
represented as a :py:class:`BoundingBox ` .
.. codeauthor:: Johannes Wienke
.. py:attribute:: region
:type: :py:class:`rst.geometry.BoundingBox`
TODO Bounding box for the detection.
.. py:attribute:: confidence
:type: :py:class:`FLOAT64`
**Unit**: TODO
TODO Detection confidence factor.
.. container:: message-rst-vision-face-source
:download:`Download this file /home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/stable/rst/vision/Face.proto>`
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/stable/rst/vision/Face.proto
:lines: 15-28
:language: protobuf
:emphasize-lines: 6-6,12-12
.. _message-rst-vision-cameramatrix3x4:
Message CameraMatrix3x4
-----------------------
.. container:: message-rst-vision-cameramatrix3x4-multi
.. container:: message-rst-vision-cameramatrix3x4-documentation
.. py:class:: rst.vision.CameraMatrix3x4
Matrix for Camera Matrix Parameters K(R, t).
.. codeauthor:: Johannes Wienke
.. py:attribute:: c11
:type: :py:class:`FLOAT32`
First row.
.. py:attribute:: c12
:type: :py:class:`FLOAT32`
*Not documented*
.. py:attribute:: c13
:type: :py:class:`FLOAT32`
*Not documented*
.. py:attribute:: c14
:type: :py:class:`FLOAT32`
*Not documented*
.. py:attribute:: c21
:type: :py:class:`FLOAT32`
Second row.
.. py:attribute:: c22
:type: :py:class:`FLOAT32`
*Not documented*
.. py:attribute:: c23
:type: :py:class:`FLOAT32`
*Not documented*
.. py:attribute:: c24
:type: :py:class:`FLOAT32`
*Not documented*
.. py:attribute:: c31
:type: :py:class:`FLOAT32`
Third row.
.. py:attribute:: c32
:type: :py:class:`FLOAT32`
*Not documented*
.. py:attribute:: c33
:type: :py:class:`FLOAT32`
*Not documented*
.. py:attribute:: c34
:type: :py:class:`FLOAT32`
*Not documented*
.. container:: message-rst-vision-cameramatrix3x4-source
:download:`Download this file /home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/vision/CameraMatrix3x4.proto>`
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.11-merge-simulator/rst-manual/../rst-proto/proto/sandbox/rst/vision/CameraMatrix3x4.proto
:lines: 10-36
:language: protobuf
:emphasize-lines: 6-6,7-7,8-8,9-9,14-14,15-15,16-16,17-17,22-22,23-23,24-24,25-25