Package rst.vision

Not documented

Messages

• LocatedFace
• CalibrationMatrices
• HeadObjects
• HeadObject
• Face
• CameraMatrix3x4

clearer: should be made invisible via css

Message LocatedFace

class rst.vision.LocatedFace

This type extends the regular Face type with a 3D location.

Code author: Leon Ziegler <lziegler@techfak.uni-bielefeld.de>

face

Type:rst.vision.Face

The face as a part of an image.

location

Type:rst.geometry.Translation

The 3d location of the face.

orientation

Type: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

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message LocatedFace {

    /**
     * The face as a part of an image.
     */
    required vision.Face face = 1;

    /**
     * The 3d location of the face.
     */
    optional geometry.Translation location = 2;

    /**
     * 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
     */
    optional geometry.Rotation orientation = 3;
}

Message CalibrationMatrices

class rst.vision.CalibrationMatrices

A pair of 2D Points.

Todo

comment seems wrong

Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>

left

Type:rst.vision.CameraMatrix3x4

Not documented

right

Type:rst.vision.CameraMatrix3x4

Not documented

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message CalibrationMatrices {

    required CameraMatrix3x4 left = 1;

    required CameraMatrix3x4 right = 2;

}

Message HeadObjects

class rst.vision.HeadObjects

A list of head objects.

Code author: Vasil Khalidov <vasil.khalidov@idiap.ch>

head_objects

Type:array of rst.vision.HeadObject

Not documented

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message HeadObjects {

    repeated vision.HeadObject head_objects = 1;

}

Message HeadObject

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?

Code author: Vasil Khalidov <vasil.khalidov@idiap.ch>

tracking_info

Type:rst.tracking.TrackingInfo

Not documented

region

Type:rst.geometry.BoundingBox

Head location in the input image.

position

Type:rst.math.Vec3DFloat

Not documented

pose

Type:rst.math.Vec3DFloat

x -> pan

Pan head rotation angle. Positive: person looks to her or his right side.

y -> tilt

Tilt head rotation angle. Positive: person looks up.

z -> roll

Roll head rotation angle. Positive: person’s head rolled to his right shoulder.

faces

Type:array of rst.vision.HeadObject.LabeledFace

Todo

semantic description

Repeated field because in cases of stereo processing there might be faces from both cameras.

speaking_probability

Type:FLOAT32

Not documented

vfoa_target

Type:OCTET-VECTOR

String description of the visual focus of attention of this head.

identity

Type:rst.classification.ClassificationResult

Not documented

gender

Type:rst.classification.ClassificationResult

Not documented

age

Type:rst.classification.ClassificationResult

Not documented

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message HeadObject {

    optional tracking.TrackingInfo tracking_info = 1;

    /**
     * Head location in the input image.
     */
    optional geometry.BoundingBox region = 2;

    optional math.Vec3DFloat position = 3;

    /**
     * @ref .x -> pan
     *
     *   Pan head rotation angle. Positive: person looks to her or his
     *   right side.
     *
     * @ref .y -> tilt
     *
     *   Tilt head rotation angle. Positive: person looks up.
     *
     * @ref .z -> roll
     *
     *   Roll head rotation angle. Positive: person's head rolled to
     *   his right shoulder.
     */
    optional math.Vec3DFloat pose = 4;

    message LabeledFace {

        required bytes label = 1;

        required vision.Face face = 2;

    }

    /**
     * @todo "semantic description"
     *
     * Repeated field because in cases of stereo processing there
     * might be faces from both cameras.
     */
    repeated LabeledFace faces = 6;

    optional float speaking_probability = 7;

    /**
     * String description of the visual focus of attention of this
     * head.
     */
    optional bytes vfoa_target = 8;

    optional classification.ClassificationResult identity = 9;

    optional classification.ClassificationResult gender = 10;

    optional classification.ClassificationResult age = 11;

}

Message LabeledFace

class rst.vision.HeadObject.LabeledFace

Not documented

label

Type:OCTET-VECTOR

Not documented

face

Type:rst.vision.Face

Not documented

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    message LabeledFace {

        required bytes label = 1;

        required vision.Face face = 2;

    }

Message Face

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 BoundingBox .

Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>

region

Type:rst.geometry.BoundingBox

TODO Bounding box for the detection.

confidence

Type:FLOAT64

Unit: TODO

TODO Detection confidence factor.

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message Face {

    /**
     * TODO Bounding box for the detection.
     */
    required geometry.BoundingBox region = 1;

    /**
     * TODO Detection confidence factor.
     */
    // @unit(TODO)
    optional double confidence = 2;

}

Message CameraMatrix3x4

class rst.vision.CameraMatrix3x4

Matrix for Camera Matrix Parameters K(R, t).

Code author: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>

c11

Type:FLOAT32

First row.

c12

Type:FLOAT32

Not documented

c13

Type:FLOAT32

Not documented

c14

Type:FLOAT32

Not documented

c21

Type:FLOAT32

Second row.

c22

Type:FLOAT32

Not documented

c23

Type:FLOAT32

Not documented

c24

Type:FLOAT32

Not documented

c31

Type:FLOAT32

Third row.

c32

Type:FLOAT32

Not documented

c33

Type:FLOAT32

Not documented

c34

Type:FLOAT32

Not documented

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message CameraMatrix3x4 {

    /**
     * First row.
     */
    required float c11 = 1;
    required float c12 = 2;
    required float c13 = 3;
    required float c14 = 4;

    /**
     * Second row.
     */
    required float c21 = 5;
    required float c22 = 6;
    required float c23 = 7;
    required float c24 = 8;

    /**
     * Third row.
     */
    required float c31 = 9;
    required float c32 = 10;
    required float c33 = 11;
    required float c34 = 12;

}