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
messageLocatedFace{/** * The face as a part of an image. */requiredvision.Faceface=1;/** * The 3d location of the face. */optionalgeometry.Translationlocation=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 */optionalgeometry.Rotationorientation=3;}
messageAugmentedPointCloudSet3DFloat{/** * Empty collection of clouds is allowed. * The order of cloud objects is not significant. */repeatedAugmentedPointCloud3DFloatclouds=1;}
messageAugmentedPointCloud3DFloat{/** * 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. */messageChannel{/** * The name of the color channel. */requiredstringname=1;/** * 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 @ref .points. */// @constraint(len(value) = len(.points.points))repeatedfloatvalues=2[packed=true];}/** * Geometry of the point cloud augmented by the data in @ref * .channels. */required.rst.geometry.PointCloud3DFloatpoints=1;/** * An optional set of scalar information to attach to each point * of the point cloud. */repeatedChannelchannels=2;}
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.
messageChannel{/** * The name of the color channel. */requiredstringname=1;/** * 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 @ref .points. */// @constraint(len(value) = len(.points.points))repeatedfloatvalues=2[packed=true];}
This value depends on the used hardware and equals the sensor’s
one-dimensional field of view. The values from scan_values are evenly distributed over this angular range.
messageLaserScan{/** * A set of values coming from the laserscanning device. */// @unit(meter)repeatedfloatscan_values=1;/** * The angular range that is covered by the scan. * * This value depends on the used hardware and equals the sensor's * one-dimensional field of view. The values from @ref * .scan_values are evenly distributed over this angular range. */// @unit(radian)requiredfloatscan_angle=2;}
A simple point cloud represented in 2D structure with information
from where it was taken.
By adding information about the pose of the camera and its
perceived view frustum, one can reconstruct the location and the
circumstances under which the provided point cloud was captured.
messageLocatedXYZImage{/** * The background model. */requiredvision.SimpleXYZImageimage=1;/** * The camera's pose in 3d space. */requiredgeometry.CameraPosecamera=2;/** * The camera's view frustum. */requiredgeometry.ViewFrustumfrustum=3;}
messageSimpleXYZImage{/** * Width of the underlying 2D ordering structure. */// @constraint(value > 0)// @unit(pixel)requireduint32width=1;/** * Height of the underlying 2D ordering structure. */// @constraint(value > 0)// @unit(pixel)requireduint32height=2;/** * The values are ordered by linearizing the underlying 2D structure row-wise. */repeatedfloatx=3;/** * See @ref .x. */repeatedfloaty=4;/** * See @ref .x. */repeatedfloatz=5;};
A list of faces with information about
the dimensions of a source image used
by a face detector. This allows interpretation
of the bounding box data contained in the Face types.
messageFaces{/** * List of faces. */repeatedFacefaces=1;/** * Width of the source image. */// @unit(pixel)requireduint32width=2;/** * Height of the source image. */// @unit(pixel)requireduint32height=3;}
messageFace{/** * TODO Bounding box for the detection. */requiredgeometry.BoundingBoxregion=1;/** * TODO Detection confidence factor. */// @unit(TODO)optionaldoubleconfidence=2;}
An uncompressed image with a certain pixel format, color and depth.
The binary intensity data is contained in the data field. The
remaining fields contain information about the interpretation, that
is dimensions (width x height), color (color_mode, channels), depth (depth) and channel
layout (data_order, channels), of that data.
Suggested interpretation of RSB timestamps:
create
Image grab time
Todo
to be more precisely defined. e.g. what does this mean
messageImage{/** * Depth of one color channel. * * Reflecting the definitions from OpenCV's IplImage. */enumDepth{DEPTH_8U=8;DEPTH_16U=16;DEPTH_32F=32;}/** * Colorspace(s) and layout of color channel(s). */enumColorMode{/** * The image consists of only one channel containing intensity * values. * * MUST be used with @ref .channels = 1. */COLOR_GRAYSCALE=0;/** * The image has three color channels containing the red, * green and blue color components (note the order of the * channels, not to be confused with @ref .COLOR_BGR). * * MUST be used with @ref .channels = 3. */COLOR_RGB=1;/** * The image has three color channels containing the blue, * green and red color components (note the order of the * channels, not to be confused with @ref .COLOR_RGB). * * MUST be used with @ref .channels = 3. */COLOR_BGR=2;/** * The image has three color channels, encoded in the YUV * colorspace, and uses the YUVYUV pixel layout. * * MUST be used with @ref .channels = 3. */COLOR_YUV=4;/** * The image has three color channels, encoded in the YUV * colorspace, and uses the YUYV pixel layout. * * MUST be used with @ref .channels = 3. */COLOR_YUV422=8;}/** * Describes storage layout of pixels with respect to channels. */enumDataOrder{/** * Separate planes. * * Example for @ref .ColorMode.COLOR_RGB: * * .. parsed-literal:: * * R R R ... (@ref .width x @ref .height times) * G G G ... (@ref .width x @ref .height times) * B B B ... (@ref .width x @ref .height times) */DATA_SEPARATE=0;/** * Interleaved image. * * Example for @ref .ColorMode.COLOR_RGB: * * .. parsed-literal:: * * R G B R G B R G B ... (@ref .width x @ref .height times) */DATA_INTERLEAVED=1;}/** * Stores the actual pixel data of the image. * * The number of bytes and their interpretation depend on the * values of the remaining fields. */// @constraint(len(value) = (.width * .height * .channels * .depth) / 8)requiredbytesdata=1;/** * The number of pixels in each row of the image. */// @unit(pixel)requireduint32width=2;/** * The number of pixels in each column of the image. */// @unit(pixel)requireduint32height=3;/** * The number of color channels in the image. * * The interpretation of these channels depends on @ref * .color_mode. */// @unit(number)optionaluint32channels=4[default=3];/** * The number of bits used to encode */optionalDepthdepth=5[default=DEPTH_8U];/** * Colorspace and layout of the color channels of the image. * * Determines pixel layout in combination with @ref .data_order. */optionalColorModecolor_mode=6[default=COLOR_RGB];/** * Layout of the color planes of the image. * * Determines pixel layout in combination with @ref .color_mode. */optionalDataOrderdata_order=7[default=DATA_SEPARATE];}
The image has three color channels containing the red,
green and blue color components (note the order of the
channels, not to be confused with COLOR_BGR).
The image has three color channels containing the blue,
green and red color components (note the order of the
channels, not to be confused with COLOR_RGB).
enumColorMode{/** * The image consists of only one channel containing intensity * values. * * MUST be used with @ref .channels = 1. */COLOR_GRAYSCALE=0;/** * The image has three color channels containing the red, * green and blue color components (note the order of the * channels, not to be confused with @ref .COLOR_BGR). * * MUST be used with @ref .channels = 3. */COLOR_RGB=1;/** * The image has three color channels containing the blue, * green and red color components (note the order of the * channels, not to be confused with @ref .COLOR_RGB). * * MUST be used with @ref .channels = 3. */COLOR_BGR=2;/** * The image has three color channels, encoded in the YUV * colorspace, and uses the YUVYUV pixel layout. * * MUST be used with @ref .channels = 3. */COLOR_YUV=4;/** * The image has three color channels, encoded in the YUV * colorspace, and uses the YUYV pixel layout. * * MUST be used with @ref .channels = 3. */COLOR_YUV422=8;}
enumDataOrder{/** * Separate planes. * * Example for @ref .ColorMode.COLOR_RGB: * * .. parsed-literal:: * * R R R ... (@ref .width x @ref .height times) * G G G ... (@ref .width x @ref .height times) * B B B ... (@ref .width x @ref .height times) */DATA_SEPARATE=0;/** * Interleaved image. * * Example for @ref .ColorMode.COLOR_RGB: * * .. parsed-literal:: * * R G B R G B R G B ... (@ref .width x @ref .height times) */DATA_INTERLEAVED=1;}