.. _package-rst-vision:
====================
Package rst.vision
====================
*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"]
"9" [label=< | HeadObjects |
|
| HeadObject | head_objects |
>,shape=box,style=filled,fillcolor="white"];
"10" [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"];
"14" [label=< | ClassificationResult |
|
| OCTET-VECTOR | decided_class |
| ClassWithProbability | classes |
>,shape=box,style=filled,fillcolor="white"];
"15" [label=< | ClassWithProbability |
|
| OCTET-VECTOR | name |
| FLOAT32 | confidence |
>,shape=box,style=filled,fillcolor="white"];
"13" [label=< | LabeledFace |
|
| OCTET-VECTOR | label |
| Face | face |
>,shape=box,style=filled,fillcolor="white"];
"12" [label=< | Vec3DFloat |
|
| FLOAT32 | x |
| FLOAT32 | y |
| FLOAT32 | z |
>,shape=box,style=filled,fillcolor="white"];
"11" [label=< | TrackingInfo |
|
| UINT32 | id |
>,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"];
"9":head_objects -> "10" [];
"10" -> "13" [];
"10":age -> "14" [];
"10":gender -> "14" [];
"10":identity -> "14" [];
"10":faces -> "13" [];
"10":pose -> "12" [];
"10":position -> "12" [];
"10":region -> "3" [];
"10":tracking_info -> "11" [];
"14" -> "15" [];
"14":classes -> "15" [];
"13":face -> "2" [];
"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:`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 `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/rst-manual/../rst-proto/proto/stable/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 `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/rst-manual/../rst-proto/proto/sandbox/rst/vision/CalibrationMatrices.proto
:lines: 13-19
:language: protobuf
:emphasize-lines: 3-3,5-5
.. _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 `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/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`
:py:attr:`x ` -> pan
Pan head rotation angle. Positive: person looks to her or his
right side.
:py:attr:`y ` -> tilt
Tilt head rotation angle. Positive: person looks up.
:py:attr:`z ` -> 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 `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/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 `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/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 `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/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 `
.. literalinclude:: //home/jenkins/workspace/rst-manual-0.12/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