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Commit fcd99b1d authored by Séverin Lemaignan's avatar Séverin Lemaignan
Browse files

Added Person.location_known_confidence with doc

parent f5b883db
Pipeline #5 failed with stages
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# This message contains mostly static data, intended to be updated at low frequency
# See https://caidin.brl.ac.uk/ROS4HRI/main/wikis/Human-representation for the semantics and interplay between the 3 identifiers
string face_id # unique ID identifying the face of the person. This ID might or might not be set, and is not permanent.
string body_id # unique ID identifying the skeleton of the person. This ID might or might not be set, and is not permanent.
string person_id # unique ID, that typically persists over interactions - for instance, internal face recognition ID. This ID might or might not be set.
# See https://caidin.brl.ac.uk/ROS4HRI/main/wikis/Human-representation for the
# semantics and interplay between the 3 identifiers
# unique ID identifying the face of the person. This ID might or might not be
# set, and is not permanent.
string face_id
# unique ID identifying the skeleton of the person. This ID might or might not
# be set, and is not permanent.
string body_id
# unique ID, that typically persists over interactions - for instance, internal
# face recognition ID. This ID might or might not be set.
string person_id
time last_seen # the special value 0 means 'never seen'.
# This value encodes the confidence the robot has abouti knowing the person's location.
# - location_known_confidence = 0 means that the robot has no knowledge of the
# person's location at all
# - location_known_confidence = 1 means that the robot currently sees the
# person - 0 < location_known_confidence < 1 means that the robot has some,
# more or less reliable, knowledge of the human location. This value would
# typically start at one just after a human has last been seen, and decrease
# over time (until the person is seen again, in which case it would jump back
# to 1)
#
# Important notes:
# - this confidence value should not be confused with a location
# uncertainty (typically represented with a covariance matrix) about the exact
# physical location of the person. Instead, location_known_confidence
# represents whether or not the robot has a valid estimate of the person's
# location.
# - if person_id is not set (ie, the person is not yet recognised), location_known_confidence = 0.
# In that case, one may still rely on the TF frames 'face_<face_id>' and/or 'body_<body_id>'
# to get an estimate of where the human is located.
# - if location_known_confidence > 0, a TF frame named 'person_<person_id>' must exist.
# - if location_known_confidence < 1, the TF frame 'person_<person_id>' is
# expected to be the last known location of the person
float32 location_known_confidence
string name
# demographics
......
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