From 9650566f926b94b91ac02b5d773b4d64e4e58d15 Mon Sep 17 00:00:00 2001 From: LukaJuricic <98381369+LukaJuricic@users.noreply.github.com> Date: Tue, 26 Sep 2023 17:32:47 +0200 Subject: [PATCH] Change ROI message type to hri_msgs/NormalizedRegionOfInterest2D (#382) Co-authored-by: Luka Juricic --- rep-0155.rst | 110 +++++++++++++++++++++++++-------------------------- 1 file changed, 55 insertions(+), 55 deletions(-) diff --git a/rep-0155.rst b/rep-0155.rst index b4d08205..e1c7a318 100644 --- a/rep-0155.rst +++ b/rep-0155.rst @@ -326,41 +326,41 @@ created (eg ``/humans/faces/bf3d/``). The following subtopics MAY then be available, depending on available detectors: -=================== ==================================== ======== ======================== -Name Message type Required Description -=================== ==================================== ======== ======================== -``/roi`` ``sensor_msgs/RegionOfInterest`` x Region of the face in - the source image -``/cropped`` ``sensor_msgs/Image`` x Cropped face image, if - necessary scaled, - centered and 0-padded - to match the - ``/humans/faces/width`` - and - ``/humans/faces/height`` - ROS parameters -``/aligned`` ``sensor_msgs/Image`` Aligned (eg, the two - eyes are horizontally - aligned) version of the - cropped face, with same - resolution as - ``/cropped`` -``/frontalized`` ``sensor_msgs/Image`` Frontalized version of - the cropped face, with - same resolution as - ``/cropped`` -``/landmarks`` ``hri_msgs/FacialLandmarks`` 2D facial landmarks - extracted from the face -``/facs`` ``hri_msgs/FacialActionUnits`` The presence and - intensity of facial - action units found in - the face -``/expression`` ``hri_msgs/Expression`` The expression - recognised from the - face -``/softbiometrics`` ``hri_msgs/SoftBiometrics`` Detected age and gender - of the person -=================== ==================================== ======== ======================== +=================== ========================================= ======== ======================== +Name Message type Required Description +=================== ========================================= ======== ======================== +``/roi`` ``hri_msgs/NormalizedRegionOfInterest2D`` x Region of the face in + the source image +``/cropped`` ``sensor_msgs/Image`` x Cropped face image, if + necessary scaled, + centered and 0-padded + to match the + ``/humans/faces/width`` + and + ``/humans/faces/height`` + ROS parameters +``/aligned`` ``sensor_msgs/Image`` Aligned (eg, the two + eyes are horizontally + aligned) version of the + cropped face, with same + resolution as + ``/cropped`` +``/frontalized`` ``sensor_msgs/Image`` Frontalized version of + the cropped face, with + same resolution as + ``/cropped`` +``/landmarks`` ``hri_msgs/FacialLandmarks`` 2D facial landmarks + extracted from the face +``/facs`` ``hri_msgs/FacialActionUnits`` The presence and + intensity of facial + action units found in + the face +``/expression`` ``hri_msgs/Expression`` The expression + recognised from the + face +``/softbiometrics`` ``hri_msgs/SoftBiometrics`` Detected age and gender + of the person +=================== ========================================= ======== ======================== Bodies ------ @@ -373,23 +373,23 @@ created. The following subtopics MAY then be available, depending on available detectors: -================= ==================================== ======== ======================== -Name Message type Required Description -================= ==================================== ======== ======================== -``/roi`` ``sensor_msgs/RegionOfInterest`` x Region of the whole body - body in the source image -``/cropped`` ``sensor_msgs/Image`` x Cropped body image -``/skeleton2d`` ``hri_msgs/Skeleton2D`` The 2D points of the - the detected skeleton -``/joint_states`` ``sensor_msgs/JointState`` The joint state of the - human body, following - the `Kinematic Model - of the Human`_ -``/posture`` ``hri_msgs/BodyPosture`` Recognised body posture - (eg standing, sitting) -``/gesture`` ``hri_msgs/Gesture`` Recognised symbolic - gesture (eg waving) -================= ==================================== ======== ======================== +================= ========================================= ======== ======================== +Name Message type Required Description +================= ========================================= ======== ======================== +``/roi`` ``hri_msgs/NormalizedRegionOfInterest2D`` x Region of the whole body + body in the source image +``/cropped`` ``sensor_msgs/Image`` x Cropped body image +``/skeleton2d`` ``hri_msgs/Skeleton2D`` The 2D points of the + the detected skeleton +``/joint_states`` ``sensor_msgs/JointState`` The joint state of the + human body, following + the `Kinematic Model + of the Human`_ +``/posture`` ``hri_msgs/BodyPosture`` Recognised body posture + (eg standing, sitting) +``/gesture`` ``hri_msgs/Gesture`` Recognised symbolic + gesture (eg waving) +================= ========================================= ======== ======================== 3D body poses SHOULD be exposed via TF frames. This is discussed in @@ -497,9 +497,9 @@ effectively advertises and publishes onto the following topics: .. code:: > rostopic list - /humans/faces/23bd5/roi # sensor_msgs/RegionOfInterest + /humans/faces/23bd5/roi # hri_msgs/NormalizedRegionOfInterest2D /humans/faces/23bd5/cropped # sensor_msgs/Image - /humans/faces/b092e/roi # sensor_msgs/RegionOfInterest + /humans/faces/b092e/roi # hri_msgs/NormalizedRegionOfInterest2D /humans/faces/b092e/cropped # sensor_msgs/Image .. note:: The IDs (in this example, ``23bd5`` and ``b092e``) are arbitrary, as @@ -532,7 +532,7 @@ It detects one body: > rostopic list /humans/faces/23bd5/... /humans/faces/b092e/... - /humans/bodies/67dd1/roi # sensor_msgs/RegionOfInterest + /humans/bodies/67dd1/roi # hri_msgs/NormalizedRegionOfInterest2D /humans/bodies/67dd1/cropped # sensor_msgs/Image In addition, you start a 2D/3D pose estimator ``your_skeleton_estimator_node``.