.. _package-rst-hri:
=================
Package rst.hri
=================
*Not documented*
Messages
========
.. container:: mess4ge-multi
.. container:: mess4ge-graph
.. digraph:: message_graph
fontname="Arial";
fontsize=11;
stylesheet="../_static/graphs.css";
node [fontsize=11,fontname="Arial"]
edge [fontsize=11,fontname="Arial"]
"23" [label=< | HighlightTarget |
|
| ASCII-STRING | target_id |
| Duration | duration |
| Modality | modality |
>,shape=box,style=filled,fillcolor="white"];
"25" [label=< | Modality |
|
| GAZE | 1 |
| GESTURE | 2 |
| AMBIENT_LIGHT | 3 |
| SOUND | 4 |
| SPOT_LIGHT | 5 |
>,shape=box,style=filled,fillcolor="white"];
"24" [label=< | Duration |
|
| UINT64 | time |
>,shape=box,style=filled,fillcolor="white"];
"16" [label=< | GroupHypothesis |
|
| TrackingInfo | tracking_info |
| UINT32 | group_size_estimate |
| SizeCategory | group_size_category |
| FLOAT32 | interest_level |
| FLOAT32 | group_stability |
| AgeCategory | age_category |
| GenderCategory | gender_category |
| MatrixDouble | stability_cues |
>,shape=box,style=filled,fillcolor="white"];
"20" [label=< | MatrixDouble |
|
| Size | size |
| Data | data |
>,shape=box,style=filled,fillcolor="white"];
"22" [label=< | Data |
|
| FLOAT64 | value |
>,shape=box,style=filled,fillcolor="white"];
"21" [label=< | Size |
|
| UINT32 | m |
| UINT32 | n |
>,shape=box,style=filled,fillcolor="white"];
"19" [label=< | GenderCategory |
|
| MIXED_GENDERS | 1 |
| COMPLETELY_FEMALE | 2 |
| COMPLETELY_MALE | 4 |
>,shape=box,style=filled,fillcolor="white"];
"18" [label=< | AgeCategory |
|
| CHILDREN | 1 |
| ADULTS | 2 |
| SENIORS | 4 |
| MIXED | 8 |
>,shape=box,style=filled,fillcolor="white"];
"17" [label=< | SizeCategory |
|
| SMALL_GROUP | 1 |
| GROUP | 2 |
| CROWD | 4 |
>,shape=box,style=filled,fillcolor="white"];
"1" [label=< | PersonHypotheses |
|
| PersonHypothesis | persons |
>,shape=box,style=filled,fillcolor="white"];
"2" [label=< | PersonHypothesis |
|
| TrackingInfo | tracking_info |
| LocatedFace | face |
| Body | body |
| AgeRange | age |
| Gender | gender |
| ASCII-STRING | name |
| FLOAT32 | human_height |
| AttentionTarget | attention_targets |
>,shape=box,style=filled,fillcolor="white"];
"15" [label=< | AttentionTarget |
|
| OCTET-VECTOR | name |
| FLOAT32 | probability |
>,shape=box,style=filled,fillcolor="white"];
"14" [label=< | Gender |
|
| UNKNOWN | 0 |
| MALE | 1 |
| FEMALE | 2 |
>,shape=box,style=filled,fillcolor="white"];
"13" [label=< | AgeRange |
|
| FLOAT32 | age_min |
| FLOAT32 | age_max |
>,shape=box,style=filled,fillcolor="white"];
"10" [label=< | Body |
|
| Translation | location |
| Rotation | orientation |
| BoundingBox3DFloat | shape |
>,shape=box,style=filled,fillcolor="white"];
"11" [label=< | BoundingBox3DFloat |
|
| Pose | transformation |
| FLOAT32 | width |
| FLOAT32 | depth |
| FLOAT32 | height |
>,shape=box,style=filled,fillcolor="white"];
"12" [label=< | Pose |
|
| Translation | translation |
| Rotation | rotation |
>,shape=box,style=filled,fillcolor="white"];
"4" [label=< | LocatedFace |
|
| Face | face |
| Translation | location |
| Rotation | orientation |
>,shape=box,style=filled,fillcolor="white"];
"9" [label=< | Rotation |
|
| FLOAT64 | qw |
| FLOAT64 | qx |
| FLOAT64 | qy |
| FLOAT64 | qz |
| ASCII-STRING | frame_id |
>,shape=box,style=filled,fillcolor="white"];
"8" [label=< | Translation |
|
| FLOAT64 | x |
| FLOAT64 | y |
| FLOAT64 | z |
| ASCII-STRING | frame_id |
>,shape=box,style=filled,fillcolor="white"];
"5" [label=< | Face |
|
| BoundingBox | region |
| FLOAT64 | confidence |
>,shape=box,style=filled,fillcolor="white"];
"6" [label=< | BoundingBox |
|
| Vec2DInt | top_left |
| UINT32 | width |
| UINT32 | height |
| UINT32 | image_width |
| UINT32 | image_height |
>,shape=box,style=filled,fillcolor="white"];
"7" [label=< | Vec2DInt |
|
| INT32 | x |
| INT32 | y |
>,shape=box,style=filled,fillcolor="white"];
"3" [label=< | TrackingInfo |
|
| UINT32 | id |
>,shape=box,style=filled,fillcolor="white"];
"23" -> "25" [];
"23":modality -> "25" [];
"23":duration -> "24" [];
"16" -> "17" [];
"16" -> "19" [];
"16" -> "18" [];
"16":stability_cues -> "20" [];
"16":gender_category -> "19" [];
"16":age_category -> "18" [];
"16":group_size_category -> "17" [];
"16":tracking_info -> "3" [];
"20" -> "22" [];
"20" -> "21" [];
"20":data -> "22" [];
"20":size -> "21" [];
"1":persons -> "2" [];
"2" -> "15" [];
"2" -> "14" [];
"2" -> "13" [];
"2":attention_targets -> "15" [];
"2":gender -> "14" [];
"2":age -> "13" [];
"2":body -> "10" [];
"2":face -> "4" [];
"2":tracking_info -> "3" [];
"10":shape -> "11" [];
"10":orientation -> "9" [];
"10":location -> "8" [];
"11":transformation -> "12" [];
"12":rotation -> "9" [];
"12":translation -> "8" [];
"4":orientation -> "9" [];
"4":location -> "8" [];
"4":face -> "5" [];
"5":region -> "6" [];
"6":top_left -> "7" [];
.. container:: mess4ge-list
.. container:: messages
* :ref:`PersonHypotheses `
* :ref:`PersonHypothesis `
* :ref:`Body `
* :ref:`GroupHypothesis `
* :ref:`HighlightTarget `
.. container:: clearer
clearer: should be made invisible via css
.. _message-rst-hri-personhypotheses:
Message PersonHypotheses
------------------------
.. container:: message-rst-hri-personhypotheses-multi
.. container:: message-rst-hri-personhypotheses-documentation
.. py:class:: rst.hri.PersonHypotheses
A sequence of person hypothesis.
.. codeauthor:: Johannes Wienke
.. py:attribute:: persons
:type: array of :py:class:`rst.hri.PersonHypothesis`
*Not documented*
.. container:: message-rst-hri-personhypotheses-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/rst-manual/../rst-proto/proto/sandbox/rst/hri/PersonHypotheses.proto
:lines: 12-16
:language: protobuf
:emphasize-lines: 3-3
.. _message-rst-hri-personhypothesis:
Message PersonHypothesis
------------------------
.. container:: message-rst-hri-personhypothesis-multi
.. container:: message-rst-hri-personhypothesis-documentation
.. py:class:: rst.hri.PersonHypothesis
A hypothesis about a person (e.g. in a person-tracking system).
.. codeauthor:: Johannes Wienke
.. py:attribute:: tracking_info
:type: :py:class:`rst.tracking.TrackingInfo`
A unique identification of a person hypothesis maintained by
the person manager.
.. py:attribute:: face
:type: :py:class:`rst.vision.LocatedFace`
The person's face as a part of an image. This also includes the
head's pose in 3D space.
.. py:attribute:: body
:type: :py:class:`rst.hri.Body`
Geometric properties of the person's body.
This includes the person's position in the world.
.. py:attribute:: age
:type: :py:class:`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.
.. py:attribute:: gender
:type: :py:class:`rst.hri.PersonHypothesis.Gender`
The person's gender.
.. py:attribute:: name
:type: :py:class:`ASCII-STRING`
The person's name. Empty string means unknown or undecided.
.. py:attribute:: human_height
:type: :py:class:`FLOAT32`
**Unit**: meter
**Constraint**: ``value >= 0``
Human height of the person (from the ground).
.. seealso::
Definition of the person's body height
http://en.wikipedia.org/wiki/Human_height
.. py:attribute:: attention_targets
:type: array of :py:class:`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.
.. container:: message-rst-hri-personhypothesis-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/rst-manual/../rst-proto/proto/sandbox/rst/hri/PersonHypothesis.proto
:lines: 15-115
:language: protobuf
:emphasize-lines: 7-7,13-13,20-20,48-48,59-59,64-64,74-74,100-100
.. _message-rst-hri-personhypothesis-agerange:
Message AgeRange
----------------
.. container:: message-rst-hri-personhypothesis-agerange-multi
.. container:: message-rst-hri-personhypothesis-agerange-documentation
.. py:class:: rst.hri.PersonHypothesis.AgeRange
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.
.. py:attribute:: age_min
:type: :py:class:`FLOAT32`
The lower bound of the age range.
.. py:attribute:: age_max
:type: :py:class:`FLOAT32`
The upper bound of the age range.
.. container:: message-rst-hri-personhypothesis-agerange-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/rst-manual/../rst-proto/proto/sandbox/rst/hri/PersonHypothesis.proto
:lines: 42-54
:language: protobuf
:emphasize-lines: 6-6,11-11
.. _message-rst-hri-personhypothesis-gender:
Message Gender
--------------
.. container:: message-rst-hri-personhypothesis-gender-multi
.. container:: message-rst-hri-personhypothesis-gender-documentation
.. py:class:: rst.hri.PersonHypothesis.Gender
*Not documented*
.. py:attribute:: UNKNOWN
= 0
*Not documented*
.. py:attribute:: MALE
= 1
*Not documented*
.. py:attribute:: FEMALE
= 2
*Not documented*
.. container:: message-rst-hri-personhypothesis-gender-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/rst-manual/../rst-proto/proto/sandbox/rst/hri/PersonHypothesis.proto
:lines: 64-68
:language: protobuf
:emphasize-lines: 2-2,3-3,4-4
.. _message-rst-hri-personhypothesis-attentiontarget:
Message AttentionTarget
-----------------------
.. container:: message-rst-hri-personhypothesis-attentiontarget-multi
.. container:: message-rst-hri-personhypothesis-attentiontarget-documentation
.. py:class:: rst.hri.PersonHypothesis.AttentionTarget
Indication of the probability that a person focuses on a named
attention target in the scene.
.. py:attribute:: name
:type: :py:class:`OCTET-VECTOR`
String description of the target
.. py:attribute:: probability
:type: :py:class:`FLOAT32`
**Constraint**: ``0 <= value <= 1``
Probability of the target.
.. container:: message-rst-hri-personhypothesis-attentiontarget-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/rst-manual/../rst-proto/proto/sandbox/rst/hri/PersonHypothesis.proto
:lines: 94-107
:language: protobuf
:emphasize-lines: 6-6,12-12
.. _message-rst-hri-body:
Message Body
------------
.. container:: message-rst-hri-body-multi
.. container:: message-rst-hri-body-documentation
.. py:class:: rst.hri.Body
Geometric properties of a person's body (e.g. in a person-tracking
system).
.. codeauthor:: Leon Ziegler
.. py:attribute:: location
:type: :py:class:`rst.geometry.Translation`
Location of the person in 3D space.
The location describes the average of the two feet positions on
the ground.
.. py:attribute:: orientation
:type: :py:class:`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:
* 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)
.. py:attribute:: shape
:type: :py:class:`rst.geometry.BoundingBox3DFloat`
Bounding box around the whole body.
This is not necessarily aligned to location and
orientation. Mainly used for tracking purposes.
.. container:: message-rst-hri-body-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/rst-manual/../rst-proto/proto/stable/rst/hri/Body.proto
:lines: 15-47
:language: protobuf
:emphasize-lines: 9-9,23-23,31-31
.. _message-rst-hri-grouphypothesis:
Message GroupHypothesis
-----------------------
.. container:: message-rst-hri-grouphypothesis-multi
.. container:: message-rst-hri-grouphypothesis-documentation
.. py:class:: rst.hri.GroupHypothesis
A hypothesis about a group visible to and/or interacting with the
robot. Will include estimates about group size and some attributes
like engagement.
.. codeauthor:: David Klotz
.. py:attribute:: tracking_info
:type: :py:class:`rst.tracking.TrackingInfo`
A unique identification of a group hypothesis maintained by the
group manager.
.. py:attribute:: group_size_estimate
:type: :py:class:`UINT32`
Information about the size (number of people) of the group.
.. py:attribute:: group_size_category
:type: :py:class:`rst.hri.GroupHypothesis.SizeCategory`
*Not documented*
.. py:attribute:: interest_level
:type: :py:class:`FLOAT32`
**Constraint**: ``0.0 <= value <= 1.0``
Group engagement information:
A level of interest the group is showing towards the robot.
.. py:attribute:: group_stability
:type: :py:class:`FLOAT32`
**Constraint**: ``0.0 <= value <= 1.0``
How stable is the group, i.e. is there a low level of
fluctuation of group members.
.. py:attribute:: age_category
:type: :py:class:`rst.hri.GroupHypothesis.AgeCategory`
Information about the group composition, structure etc.
.. py:attribute:: gender_category
:type: :py:class:`rst.hri.GroupHypothesis.GenderCategory`
*Not documented*
.. py:attribute:: stability_cues
:type: :py:class:`rst.math.MatrixDouble`
Internal cue data for evaluation
.. container:: message-rst-hri-grouphypothesis-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/rst-manual/../rst-proto/proto/sandbox/rst/hri/GroupHypothesis.proto
:lines: 15-83
:language: protobuf
:emphasize-lines: 35-35,40-40,41-41,49-49,56-56,61-61,62-62,67-67
.. _message-rst-hri-grouphypothesis-agecategory:
Message AgeCategory
-------------------
.. container:: message-rst-hri-grouphypothesis-agecategory-multi
.. container:: message-rst-hri-grouphypothesis-agecategory-documentation
.. py:class:: rst.hri.GroupHypothesis.AgeCategory
A category for the age of the group members.
.. py:attribute:: CHILDREN
= 1
*Not documented*
.. py:attribute:: ADULTS
= 2
*Not documented*
.. py:attribute:: SENIORS
= 4
*Not documented*
.. py:attribute:: MIXED
= 8
*Not documented*
.. container:: message-rst-hri-grouphypothesis-agecategory-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/rst-manual/../rst-proto/proto/sandbox/rst/hri/GroupHypothesis.proto
:lines: 20-25
:language: protobuf
:emphasize-lines: 2-2,3-3,4-4,5-5
.. _message-rst-hri-grouphypothesis-gendercategory:
Message GenderCategory
----------------------
.. container:: message-rst-hri-grouphypothesis-gendercategory-multi
.. container:: message-rst-hri-grouphypothesis-gendercategory-documentation
.. py:class:: rst.hri.GroupHypothesis.GenderCategory
A category for the gender of the group members.
.. py:attribute:: MIXED_GENDERS
= 1
*Not documented*
.. py:attribute:: COMPLETELY_FEMALE
= 2
*Not documented*
.. py:attribute:: COMPLETELY_MALE
= 4
*Not documented*
.. container:: message-rst-hri-grouphypothesis-gendercategory-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/rst-manual/../rst-proto/proto/sandbox/rst/hri/GroupHypothesis.proto
:lines: 30-34
:language: protobuf
:emphasize-lines: 2-2,3-3,4-4
.. _message-rst-hri-grouphypothesis-sizecategory:
Message SizeCategory
--------------------
.. container:: message-rst-hri-grouphypothesis-sizecategory-multi
.. container:: message-rst-hri-grouphypothesis-sizecategory-documentation
.. py:class:: rst.hri.GroupHypothesis.SizeCategory
A category for the group size.
.. py:attribute:: SMALL_GROUP
= 1
*Not documented*
.. py:attribute:: GROUP
= 2
*Not documented*
.. py:attribute:: CROWD
= 4
*Not documented*
.. container:: message-rst-hri-grouphypothesis-sizecategory-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/rst-manual/../rst-proto/proto/sandbox/rst/hri/GroupHypothesis.proto
:lines: 39-43
:language: protobuf
:emphasize-lines: 2-2,3-3,4-4
.. _message-rst-hri-highlighttarget:
Message HighlightTarget
-----------------------
.. container:: message-rst-hri-highlighttarget-multi
.. container:: message-rst-hri-highlighttarget-documentation
.. py:class:: rst.hri.HighlightTarget
Specifies a target that should be highlighted by an intelligent
system, e.g. to elicit attention of a human interaction partner.
.. codeauthor:: Patrick Holthaus
.. py:attribute:: target_id
:type: :py:class:`ASCII-STRING`
The target that should be highlighted.
.. py:attribute:: duration
:type: :py:class:`rst.timing.Duration`
How long to highlight the target.
.. py:attribute:: modality
:type: array of :py:class:`rst.hri.HighlightTarget.Modality`
A list of modalities to use for highlighting.
.. container:: message-rst-hri-highlighttarget-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/rst-manual/../rst-proto/proto/sandbox/rst/hri/HighlightTarget.proto
:lines: 13-63
:language: protobuf
:emphasize-lines: 39-39,44-44,49-49
.. _message-rst-hri-highlighttarget-modality:
Message Modality
----------------
.. container:: message-rst-hri-highlighttarget-modality-multi
.. container:: message-rst-hri-highlighttarget-modality-documentation
.. py:class:: rst.hri.HighlightTarget.Modality
The modality to use.
.. py:attribute:: GAZE
= 1
Use gaze to refer to the target that should be highlighted.
.. py:attribute:: GESTURE
= 2
Use gestures to refer to the target, e.g. pointing.
.. py:attribute:: AMBIENT_LIGHT
= 3
Use (ambient) light at the target, e.g. leds or surrounding
lights.
.. py:attribute:: SOUND
= 4
Use (ambient) sound at the target, e.g. beeps.
.. py:attribute:: SPOT_LIGHT
= 5
Use a spot(-light) that points to the target.
.. container:: message-rst-hri-highlighttarget-modality-source
:download:`Download this file `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/rst-manual/../rst-proto/proto/sandbox/rst/hri/HighlightTarget.proto
:lines: 18-46
:language: protobuf
:emphasize-lines: 6-6,11-11,17-17,22-22,27-27