Package rst.vision

Not documented

Messages

• CalibrationMatrices
• LaserScan
• HeadObjects
• HeadObject
• Face
• CameraMatrix3x4
• LocatedXYZImage
• SimpleXYZImage

clearer: should be made invisible via css

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 LaserScan

class rst.vision.LaserScan

An object of this type represents a single laser scan carried out by an appropriate planar laser range-finder.

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

scan_values

Type :array of FLOAT32

Unit: meter

A set of values coming from the laserscanning device.

scan_angle

Type :FLOAT32

Unit: radian

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 scan_values are evenly distributed over this angular range.

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message LaserScan {

    /**
     * A set of values coming from the laserscanning device.
     */
    // @unit(meter)
    repeated float scan_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)
    required float scan_angle = 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

<Could not resolve reference to .x> -> pan

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

<Could not resolve reference to .y> -> tilt

Tilt head rotation angle. Positive: person looks up.

<Could not resolve reference to .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;

}

Message LocatedXYZImage

class rst.vision.LocatedXYZImage

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.

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

image

Type :rst.vision.SimpleXYZImage

The background model.

camera

Type :rst.geometry.CameraPose

The camera’s pose in 3d space.

frustum

Type :rst.geometry.ViewFrustum

The camera’s view frustum.

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message LocatedXYZImage {

    /**
     * The background model.
     */
    required vision.SimpleXYZImage image = 1;

    /**
     * The camera's pose in 3d space.
     */
    required geometry.CameraPose camera = 2;

    /**
     * The camera's view frustum.
     */
    required geometry.ViewFrustum frustum = 3;

}

Message SimpleXYZImage

class rst.vision.SimpleXYZImage

Constraint: .width * .height = len(.x)

Constraint: .width * .height = len(.y)

Constraint: .width * .height = len(.z)

Saves 3D data (X, Y, Z values) which have a 2D ordering.

This kind of depth-data is produced by e.g. Kinect or Swissranger cameras.

x, y, z are 1D arrays which save separately the X, Y, Z values of the 3D points.

Code author: Agnes Swadzba <aswadzba@techfak.uni-bielefeld.de>

width

Type :UINT32

Constraint: value > 0

Unit: pixel

Width of the underlying 2D ordering structure.

height

Type :UINT32

Constraint: value > 0

Unit: pixel

Height of the underlying 2D ordering structure.

x

Type :array of FLOAT32

The values are ordered by linearizing the underlying 2D structure row-wise.

y

Type :array of FLOAT32

See x.

z

Type :array of FLOAT32

See x.

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message SimpleXYZImage {

    /**
     * Width of the underlying 2D ordering structure.
     */
    // @constraint(value > 0)
    // @unit(pixel)
    required uint32 width  = 1;


    /**
     * Height of the underlying 2D ordering structure.
     */
    // @constraint(value > 0)
    // @unit(pixel)
    required uint32 height = 2;

    /**
     * The values are ordered by linearizing the underlying 2D structure row-wise.
     */
    repeated float x = 3;

    /**
     * See @ref .x.
     */
    repeated float y = 4;

    /**
     * See @ref .x.
     */
    repeated float z = 5;

};