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Change ROI message type to hri_msgs/NormalizedRegionOfInterest2D #382

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Sep 26, 2023
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Change ROI message type to hri_msgs/NormalizedRegionOfInterest2D #382

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110 changes: 55 additions & 55 deletions rep-0155.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -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
------
Expand All @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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``.
Expand Down