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luxai-qtrobot / QA

Virtual repository for Questions & Answers system
http://luxai-qtrobot.github.io
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a bit more qt_nuitrack_app/faces documentation? #42

Open andrewpbstout opened 3 years ago

andrewpbstout commented 3 years ago

I'm looking for a little more documentation on the qt_nuitrack_app/Faces message. Are there docs somewhere that explain what the different fields are? I can guess most of them, but the https://github.com/luxai-qtrobot/tutorials/blob/master/demos/qt_face_recognition/src/qt_face_recognition.py demo doesn't use the `angles' field, which I'd like to understand.

apaikan commented 3 years ago

Hi @andrewpbstout Usually you should be able to get the overview of the face message using $rosmsg show qt_nuitrack_app/FaceInfo I have added the result with few comments here: 

string gender
int32 age_years
string age_type
float64 emotion_neutral
float64 emotion_angry
float64 emotion_happy
float64 emotion_surprise
# normalized screen coordinates of a face rectangle in the image (x, y, w, h)
float64[] rectangle
# normalized coordinates of the center of a person’s left eye (x,y)
float64[] left_eye
# normalized coordinates of the center of a person’s right eye (x,y)
float64[] right_eye
# face orientation angles in degrees (yaw, pitch, roll)
float64[] angles

You may want to have a deeper look at these values from Nuitrack documentation: https://download.3divi.com/Nuitrack/doc/Instance_based_API.html

our nuitrack ros implementation expose most of those values (facial landmarks are missing) via ROS. Anyway, the source code of the qt_nuitrack_app is available in your QTPC under catkin folder. Feel free to modify it to add more features if necessary. The source code is respectively simple.

Please let us know if you need any more help :)

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