Package rst.hri¶

Not documented

Messages¶

PersonHypotheses
PersonHypothesis
Body

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Message PersonHypotheses¶

class rst.hri.PersonHypotheses¶

A sequence of person hypothesis.

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

persons¶

Type:	array of `rst.hri.PersonHypothesis`

Not documented

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message PersonHypotheses {

    repeated PersonHypothesis persons = 1;

}

Message PersonHypothesis¶

class rst.hri.PersonHypothesis¶

A hypothesis about a person (e.g. in a person-tracking system).

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

tracking_info¶

Type:	`rst.tracking.TrackingInfo`

A unique identification of a person hypothesis maintained by the person manager.

face¶

Type:	`rst.vision.LocatedFace`

The person’s face as a part of an image. This also includes the head’s pose in 3D space.

body¶

Type:	`rst.hri.Body`

Geometric properties of the person’s body.

This includes the person’s position in the world.

age¶

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.

gender¶

Type:	`rst.hri.PersonHypothesis.Gender`

The person’s gender.

name¶

Type:	`ASCII-STRING`

The person’s name. Empty string means unknown or undecided.

human_height¶

Type:	`FLOAT32`

Unit: meter

Constraint: value >= 0

Human height of the person (from the ground).

See also

Definition of the person’s body height: http://en.wikipedia.org/wiki/Human_height

attention_targets¶

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.

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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¶

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.

age_min¶

Type:	`FLOAT32`

The lower bound of the age range.

age_max¶

Type:	`FLOAT32`

The upper bound of the age range.

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    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;

    }

Message Gender¶

class rst.hri.PersonHypothesis.Gender¶

Not documented

UNKNOWN¶
= 0: Not documented

MALE¶
= 1: Not documented

FEMALE¶
= 2: Not documented

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    enum Gender {
        UNKNOWN = 0;
        MALE = 1;
        FEMALE = 2;
    }

Message AttentionTarget¶

class rst.hri.PersonHypothesis.AttentionTarget¶

Indication of the probability that a person focuses on a named attention target in the scene.

name¶

Type:	`OCTET-VECTOR`

String description of the target

probability¶

Type:	`FLOAT32`

Constraint: 0 <= value <= 1

Probability of the target.

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    message AttentionTarget {

        /**
         * String description of the target
         */
        required bytes name = 1;

        /**
         * Probability of the target.
         */
        // @constraint(0 <= value <= 1)
        required float probability = 2;

    }

Message Body¶

class rst.hri.Body¶

Geometric properties of a person’s body (e.g. in a person-tracking system).

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

@create_collection(BodyList)

location¶

Type:	`rst.geometry.Translation`

Location of the person in 3D space.

The location describes the average of the two feet positions on the ground.

orientation¶

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:

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)

shape¶

Type:	`rst.geometry.BoundingBox3DFloat`

Bounding box around the whole body.

This is not necessarily aligned to location and orientation. Mainly used for tracking purposes.

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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;

}

Package rst.hri¶

Messages¶

Message PersonHypotheses¶

Message PersonHypothesis¶

Message AgeRange¶

Message Gender¶

Message AttentionTarget¶

Message Body¶

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