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Change ROI message type to hri_msgs/NormalizedRegionOfInterest2D (#382)
Co-authored-by: Luka Juricic <luka.juricic@pal-robotics.com>
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‎rep-0155.rst

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@@ -326,41 +326,41 @@ created (eg ``/humans/faces/bf3d/``).
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The following subtopics MAY then be available, depending on available
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detectors:
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=================== ==================================== ======== ========================
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Name Message type Required Description
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=================== ==================================== ======== ========================
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``/roi`` ``sensor_msgs/RegionOfInterest`` x Region of the face in
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the source image
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``/cropped`` ``sensor_msgs/Image`` x Cropped face image, if
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necessary scaled,
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centered and 0-padded
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to match the
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``/humans/faces/width``
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and
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``/humans/faces/height``
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ROS parameters
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``/aligned`` ``sensor_msgs/Image`` Aligned (eg, the two
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eyes are horizontally
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aligned) version of the
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cropped face, with same
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resolution as
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``/cropped``
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``/frontalized`` ``sensor_msgs/Image`` Frontalized version of
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the cropped face, with
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same resolution as
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``/cropped``
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``/landmarks`` ``hri_msgs/FacialLandmarks`` 2D facial landmarks
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extracted from the face
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``/facs`` ``hri_msgs/FacialActionUnits`` The presence and
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intensity of facial
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action units found in
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the face
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``/expression`` ``hri_msgs/Expression`` The expression
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recognised from the
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face
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``/softbiometrics`` ``hri_msgs/SoftBiometrics`` Detected age and gender
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of the person
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=================== ==================================== ======== ========================
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=================== ========================================= ======== ========================
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Name Message type Required Description
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=================== ========================================= ======== ========================
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``/roi`` ``hri_msgs/NormalizedRegionOfInterest2D`` x Region of the face in
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the source image
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``/cropped`` ``sensor_msgs/Image`` x Cropped face image, if
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necessary scaled,
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centered and 0-padded
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to match the
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``/humans/faces/width``
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and
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``/humans/faces/height``
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ROS parameters
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``/aligned`` ``sensor_msgs/Image`` Aligned (eg, the two
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eyes are horizontally
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aligned) version of the
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cropped face, with same
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resolution as
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``/cropped``
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``/frontalized`` ``sensor_msgs/Image`` Frontalized version of
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the cropped face, with
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same resolution as
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``/cropped``
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``/landmarks`` ``hri_msgs/FacialLandmarks`` 2D facial landmarks
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extracted from the face
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``/facs`` ``hri_msgs/FacialActionUnits`` The presence and
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intensity of facial
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action units found in
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the face
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``/expression`` ``hri_msgs/Expression`` The expression
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recognised from the
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face
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``/softbiometrics`` ``hri_msgs/SoftBiometrics`` Detected age and gender
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of the person
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=================== ========================================= ======== ========================
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Bodies
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------
@@ -373,23 +373,23 @@ created.
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The following subtopics MAY then be available, depending on available
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detectors:
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================= ==================================== ======== ========================
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Name Message type Required Description
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================= ==================================== ======== ========================
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``/roi`` ``sensor_msgs/RegionOfInterest`` x Region of the whole body
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body in the source image
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``/cropped`` ``sensor_msgs/Image`` x Cropped body image
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``/skeleton2d`` ``hri_msgs/Skeleton2D`` The 2D points of the
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the detected skeleton
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``/joint_states`` ``sensor_msgs/JointState`` The joint state of the
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human body, following
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the `Kinematic Model
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of the Human`_
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``/posture`` ``hri_msgs/BodyPosture`` Recognised body posture
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(eg standing, sitting)
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``/gesture`` ``hri_msgs/Gesture`` Recognised symbolic
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gesture (eg waving)
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================= ==================================== ======== ========================
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================= ========================================= ======== ========================
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Name Message type Required Description
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================= ========================================= ======== ========================
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``/roi`` ``hri_msgs/NormalizedRegionOfInterest2D`` x Region of the whole body
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body in the source image
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``/cropped`` ``sensor_msgs/Image`` x Cropped body image
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``/skeleton2d`` ``hri_msgs/Skeleton2D`` The 2D points of the
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the detected skeleton
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``/joint_states`` ``sensor_msgs/JointState`` The joint state of the
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human body, following
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the `Kinematic Model
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of the Human`_
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``/posture`` ``hri_msgs/BodyPosture`` Recognised body posture
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(eg standing, sitting)
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``/gesture`` ``hri_msgs/Gesture`` Recognised symbolic
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gesture (eg waving)
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================= ========================================= ======== ========================
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3D body poses SHOULD be exposed via TF frames.
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This is discussed in
@@ -497,9 +497,9 @@ effectively advertises and publishes onto the following topics:
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.. code::
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> rostopic list
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/humans/faces/23bd5/roi # sensor_msgs/RegionOfInterest
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/humans/faces/23bd5/roi # hri_msgs/NormalizedRegionOfInterest2D
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/humans/faces/23bd5/cropped # sensor_msgs/Image
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/humans/faces/b092e/roi # sensor_msgs/RegionOfInterest
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/humans/faces/b092e/roi # hri_msgs/NormalizedRegionOfInterest2D
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/humans/faces/b092e/cropped # sensor_msgs/Image
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.. note:: The IDs (in this example, ``23bd5`` and ``b092e``) are arbitrary, as
@@ -532,7 +532,7 @@ It detects one body:
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> rostopic list
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/humans/faces/23bd5/...
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/humans/faces/b092e/...
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/humans/bodies/67dd1/roi # sensor_msgs/RegionOfInterest
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/humans/bodies/67dd1/roi # hri_msgs/NormalizedRegionOfInterest2D
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/humans/bodies/67dd1/cropped # sensor_msgs/Image
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In addition, you start a 2D/3D pose estimator ``your_skeleton_estimator_node``.

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