cob_perception_msgs¶

Message types¶

• cob_perception_msgs/PointCloud2Array
• cob_perception_msgs/ColorDepthImage
• cob_perception_msgs/People
• cob_perception_msgs/Rect
• cob_perception_msgs/Person
• cob_perception_msgs/DetectionArray
• cob_perception_msgs/Skeleton
• cob_perception_msgs/Detection
• cob_perception_msgs/ColorDepthImageArray
• cob_perception_msgs/PersonStamped
• cob_perception_msgs/Mask
• cob_perception_msgs/PositionMeasurement
• cob_perception_msgs/PositionMeasurementArray

cob_perception_msgs/PointCloud2Array¶

Field:	header (std_msgs/Header) – segments[] (sensor_msgs/PointCloud2) –

Header header
sensor_msgs/PointCloud2[] segments

cob_perception_msgs/ColorDepthImage¶

Field:	head_detection (cob_perception_msgs/Rect) – color_image (sensor_msgs/Image) – depth_image (sensor_msgs/Image) – face_detections[] (cob_perception_msgs/Rect) –

Rect head_detection		# bounding box of detected head (coordinates in relation to whole image coordinate system)
sensor_msgs/Image color_image	# color image patch at bounding box head_detection (i.e. same size as head region, not only face region)
sensor_msgs/Image depth_image	# depth image patch at bounding box head_detection
Rect[] face_detections		# faces detected in color image inside the head's bounding box (coordinates in relation to head's bounding box)

cob_perception_msgs/People¶

Field:	header (std_msgs/Header) – people[] (cob_perception_msgs/Person) –

This message is used to describe a crowd of people.

#This message is used to describe a crowd of people.

Header header
cob_perception_msgs/Person[] people

cob_perception_msgs/Rect¶

Field:	x (int32) – y (int32) – width (int32) – height (int32) –

int32 x
int32 y
int32 width
int32 height

cob_perception_msgs/Person¶

Field:	name (string) – detector (string) – position (geometry_msgs/Pose) – velocity (geometry_msgs/Point) – skeleton (cob_perception_msgs/Skeleton) –

This message is used to describe a person

#This message is used to describe a person
 
string              name				#id of a person
string              detector			#used device for detection (scan, camera)
geometry_msgs/Pose  position			#position in space
geometry_msgs/Point velocity			#speed

cob_perception_msgs/Skeleton skeleton	#assigned skeleton to a tracked person

cob_perception_msgs/DetectionArray¶

Field:	header (std_msgs/Header) – detections[] (cob_perception_msgs/Detection) –

Header header
Detection[] detections

cob_perception_msgs/Skeleton¶

Constant:

JOINT_HEAD (uint8):0 – JOINT_NECK (uint8):1 – JOINT_LEFT_SHOULDER (uint8):2 – JOINT_RIGHT_SHOULDER (uint8):3 – JOINT_LEFT_ELBOW (uint8):4 – JOINT_RIGHT_ELBOW (uint8):5 – JOINT_LEFT_HAND (uint8):6 – JOINT_RIGHT_HAND (uint8):7 – JOINT_TORSO (uint8):8 – JOINT_LEFT_HIP (uint8):9 – JOINT_RIGHT_HIP (uint8):10 – JOINT_LEFT_KNEE (uint8):11 – JOINT_RIGHT_KNEE (uint8):12 – JOINT_LEFT_FOOT (uint8):13 – JOINT_RIGHT_FOOT (uint8):14 – JOINT_NUMBER (uint8):15 –

Field:

joints[] (geometry_msgs/Pose) –

This messages is used to describe a skeleton and defines joints of a tracked person

the same enum as defined in NiteCEnums.h of the Nite body tracker

# This messages is used to describe a skeleton and defines joints of a tracked person

# the same enum as defined in NiteCEnums.h of the Nite body tracker
uint8 JOINT_HEAD = 0
uint8 JOINT_NECK = 1
uint8 JOINT_LEFT_SHOULDER = 2
uint8 JOINT_RIGHT_SHOULDER = 3
uint8 JOINT_LEFT_ELBOW = 4
uint8 JOINT_RIGHT_ELBOW = 5
uint8 JOINT_LEFT_HAND = 6
uint8 JOINT_RIGHT_HAND = 7
uint8 JOINT_TORSO = 8
uint8 JOINT_LEFT_HIP = 9
uint8 JOINT_RIGHT_HIP = 10
uint8 JOINT_LEFT_KNEE = 11
uint8 JOINT_RIGHT_KNEE = 12
uint8 JOINT_LEFT_FOOT = 13
uint8 JOINT_RIGHT_FOOT = 14
uint8 JOINT_NUMBER = 15

geometry_msgs/Pose[] joints

cob_perception_msgs/Detection¶

Field:	header (std_msgs/Header) – label (string) – id (int32) – detector (string) – score (float32) – mask (cob_perception_msgs/Mask) – pose (geometry_msgs/PoseStamped) – bounding_box_lwh (geometry_msgs/Point) –

Header header
string label
int32 id
string detector
float32 score
Mask mask
geometry_msgs/PoseStamped pose
geometry_msgs/Point bounding_box_lwh

cob_perception_msgs/ColorDepthImageArray¶

Field:	header (std_msgs/Header) – head_detections[] (cob_perception_msgs/ColorDepthImage) –

Header header				# timestamp etc.
ColorDepthImage[] head_detections	# each entry contains the bounding box, color image, depth image and color image face detections of a head region

cob_perception_msgs/PersonStamped¶

Field:	header (std_msgs/Header) – person (cob_perception_msgs/Person) –

origin from url = https://github.com/wg-perception/people/tree/hydro-devel/people_msgs

# origin from  url = https://github.com/wg-perception/people/tree/hydro-devel/people_msgs

Header header
cob_perception_msgs/Person person

cob_perception_msgs/Mask¶

Field:	roi (cob_perception_msgs/Rect) – mask (sensor_msgs/Image) –

this message is used to mark where an object is present in an image this can be done either by a roi region on the image (less precise) or a mask (more precise)

# this message is used to mark where an object is present in an image
# this can be done either by a roi region on the image (less precise) or a mask (more precise)

Rect roi

# in the case when mask is used, 'roi' specifies the image region and 'mask'
# (which should be of the same size) a binary mask in that region
sensor_msgs/Image mask

# in the case there is 3D data available, 'indices' are used to index the 
# part of the point cloud representing the object
#pcl/PointIndices indices

cob_perception_msgs/PositionMeasurement¶

Field:	header (std_msgs/Header) – name (string) – object_id (string) – pos (geometry_msgs/Point) – vel (geometry_msgs/Vector3) – reliability (float64) – covariance[9] (float64) – initialization (byte) –

origin from url = https://github.com/wg-perception/people/tree/hydro-devel/people_msgs

# origin from  url = https://github.com/wg-perception/people/tree/hydro-devel/people_msgs

Header          header
string          name
string          object_id
geometry_msgs/Point pos
geometry_msgs/Vector3 vel
float64         reliability
float64[9] 		covariance
byte            initialization

cob_perception_msgs/PositionMeasurementArray¶

Field:	header (std_msgs/Header) – people[] (cob_perception_msgs/PositionMeasurement) – cooccurrence[] (float32) –

origin from url = https://github.com/wg-perception/people/tree/hydro-devel/people_msgs

# origin from  url = https://github.com/wg-perception/people/tree/hydro-devel/people_msgs

Header          header

# All of the people found
cob_perception_msgs/PositionMeasurement[] people

# The co-occurrence matrix between people
float32[] cooccurrence