Not documented
A sequence of person hypothesis.
Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>
Type : | array of rst.hri.PersonHypothesis |
---|
Not documented
message PersonHypotheses {
repeated PersonHypothesis persons = 1;
}
A hypothesis about a person (e.g. in a person-tracking system).
Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>
Type : | rst.tracking.TrackingInfo |
---|
A unique identification of a person hypothesis maintained by the person manager.
Type : | rst.vision.LocatedFace |
---|
The person’s face as a part of an image. This also includes the head’s pose in 3D space.
Type : | rst.hri.Body |
---|
Geometric properties of the person’s body.
This includes the person’s position in the world.
Type : | rst.hri.PersonHypothesis.AgeRange |
---|
The person’s age in years as a range.
If the exact age is known, set both bounds of the range to the desired value.
Type : | rst.hri.PersonHypothesis.Gender |
---|
The person’s gender.
Type : | ASCII-STRING |
---|
The person’s name. Empty string means unknown or undecided.
Type : | FLOAT32 |
---|
Unit: meter
Constraint: value >= 0
Human height of the person (from the ground).
See also
Type : | array of rst.hri.PersonHypothesis.AttentionTarget |
---|
A list of defined attention targets in a scene that a person can focus on with the probability that each target is actually currently focused by this person.
message PersonHypothesis {
/**
* A unique identification of a person hypothesis maintained by
* the person manager.
*/
optional tracking.TrackingInfo tracking_info = 1;
/**
* The person's face as a part of an image. This also includes the
* head's pose in 3D space.
*/
optional vision.LocatedFace face = 3;
/**
* Geometric properties of the person's body.
*
* This includes the person's position in the world.
*/
optional hri.Body body = 10;
/**
* Represents a person's age in years as a range.
*
* If the exact age is known, set both values (min and max) to the
* desired value.
*/
message AgeRange {
/**
* The lower bound of the age range.
*/
required float age_min = 1;
/**
* The upper bound of the age range.
*/
required float age_max = 2;
}
/**
* The person's age in years as a range.
*
* If the exact age is known, set both bounds of the range to the
* desired value.
*/
optional AgeRange age = 40;
enum Gender {
UNKNOWN = 0;
MALE = 1;
FEMALE = 2;
}
/**
* The person's gender.
*/
optional Gender gender = 42 [default = UNKNOWN];
/**
* The person's name. Empty string means unknown or undecided.
*/
optional string name = 44;
/**
* Human height of the person (from the ground).
*
* @see http://en.wikipedia.org/wiki/Human_height
* "Definition of the person's body height"
*/
// @unit(meter)
// @constraint(value >= 0)
optional float human_height = 45;
/**
* Indication of the probability that a person focuses on a named
* attention target in the scene.
*/
message AttentionTarget {
/**
* String description of the target
*/
required bytes name = 1;
/**
* Probability of the target.
*/
// @constraint(0 <= value <= 1)
required float probability = 2;
}
/**
* A list of defined attention targets in a scene that a person can focus
* on with the probability that each target is actually currently focused
* by this person.
*/
repeated AttentionTarget attention_targets = 50;
}
message AgeRange {
/**
* The lower bound of the age range.
*/
required float age_min = 1;
/**
* The upper bound of the age range.
*/
required float age_max = 2;
}
enum Gender {
UNKNOWN = 0;
MALE = 1;
FEMALE = 2;
}
message AttentionTarget {
/**
* String description of the target
*/
required bytes name = 1;
/**
* Probability of the target.
*/
// @constraint(0 <= value <= 1)
required float probability = 2;
}
Geometric properties of a person’s body (e.g. in a person-tracking system).
Code author: Leon Ziegler <lziegler@techfak.uni-bielefeld.de>
Type : | rst.geometry.Translation |
---|
Location of the person in 3D space.
The location describes the average of the two feet positions on the ground.
Type : | rst.geometry.Rotation |
---|
Orientation of the person.
The provided rotation should be passed as a relative rotation from the coordinate frame defined by the orientation description. The axes of the corresponding coordinate system are defined as follows:
Type : | rst.geometry.BoundingBox3DFloat |
---|
Bounding box around the whole body.
This is not necessarily aligned to location and orientation. Mainly used for tracking purposes.
message Body {
/**
* Location of the person in 3D space.
*
* The location describes the average of the two feet positions on
* the ground.
*/
optional geometry.Translation location = 10;
/**
* Orientation of the person.
*
* The provided rotation should be passed as a relative rotation
* from the coordinate frame defined by the orientation
* description. The axes of the corresponding coordinate system
* are defined as follows:
*
* * x axis: points in the direction of the person's walking direction
* * y axis: points to the person's right side
* * z axis: points downwards (along the person's body axis)
*/
optional geometry.Rotation orientation = 20;
/**
* Bounding box around the whole body.
*
* This is not necessarily aligned to location and
* orientation. Mainly used for tracking purposes.
*/
optional geometry.BoundingBox3DFloat shape = 30;
}
A hypothesis about a group visible to and/or interacting with the robot. Will include estimates about group size and some attributes like engagement.
Code author: David Klotz <dklotz@techfak.uni-bielefeld.de>
Type : | rst.tracking.TrackingInfo |
---|
A unique identification of a group hypothesis maintained by the group manager.
Type : | UINT32 |
---|
Information about the size (number of people) of the group.
Type : | rst.hri.GroupHypothesis.SizeCategory |
---|
Not documented
Type : | FLOAT32 |
---|
Constraint: 0.0 <= value <= 1.0
Group engagement information:
A level of interest the group is showing towards the robot.
Type : | FLOAT32 |
---|
Constraint: 0.0 <= value <= 1.0
How stable is the group, i.e. is there a low level of fluctuation of group members.
Type : | rst.hri.GroupHypothesis.AgeCategory |
---|
Information about the group composition, structure etc.
Type : | rst.hri.GroupHypothesis.GenderCategory |
---|
Not documented
Type : | rst.math.MatrixDouble |
---|
Internal cue data for evaluation
message GroupHypothesis {
/**
* A category for the age of the group members.
*/
enum AgeCategory {
CHILDREN = 1;
ADULTS = 2;
SENIORS = 4;
MIXED = 8;
}
/**
* A category for the gender of the group members.
*/
enum GenderCategory {
MIXED_GENDERS = 1;
COMPLETELY_FEMALE = 2;
COMPLETELY_MALE = 4;
}
/**
* A category for the group size.
*/
enum SizeCategory {
SMALL_GROUP = 1;
GROUP = 2;
CROWD = 4;
}
/**
* A unique identification of a group hypothesis maintained by the
* group manager.
*/
optional tracking.TrackingInfo tracking_info = 1;
/**
* Information about the size (number of people) of the group.
*/
optional uint32 group_size_estimate = 10;
optional SizeCategory group_size_category = 11;
/**
* Group engagement information:
*
* A level of interest the group is showing towards the robot.
*/
// @constraint(0.0 <= value <= 1.0)
optional float interest_level = 20;
/**
* How stable is the group, i.e. is there a low level of
* fluctuation of group members.
*/
// @constraint(0.0 <= value <= 1.0)
optional float group_stability = 21;
/**
* Information about the group composition, structure etc.
*/
optional AgeCategory age_category = 30;
optional GenderCategory gender_category = 31;
/**
* Internal cue data for evaluation
*/
optional math.MatrixDouble stability_cues = 40;
}
enum GenderCategory {
MIXED_GENDERS = 1;
COMPLETELY_FEMALE = 2;
COMPLETELY_MALE = 4;
}
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