robokudo.types.scene

Classes

AnalyzableAnnotation	An Annotation that describes an entity observed in the scene, that shall be analyzed further.
ObjectHypothesis	An Annotation that describes an entity observed in the scene, that shall be analyzed further.
HumanHypothesis	In contrast to ObjectHypothesis, we have many different aspects on a Object to annotate.
RegionHypothesis	A region in the scene. It doesn't necessarily focus on one specific object, but is rather used as a data structure
ParthoodHypothesis	This annotation can be used to represent parts of an object.
ParthoodComponentHypothesis	This annotation can be used to represent parts of an object.
ParthoodFeatureHypothesis	This annotation can be used to represent parts of an object.
OccupiedAnnotation	This annotation can be used to indicate that a region is occupied.

Module Contents

class robokudo.types.scene.AnalyzableAnnotation

Bases: robokudo.types.core.IdentifiableAnnotation

An Annotation that describes an entity observed in the scene, that shall be analyzed further. This is considered as a super class for everything that could potentially be necessary to look at. Examples for this are: Detected objects, Detected humans, but also subparts of detected objects. The latter includes specific features of an object or subcomponents that need their individual analysis.

Analyzables can get their own Annotations, might have 3D/6D points and their own ROI.

annotations = []

points = None

point_indices = []

roi

class robokudo.types.scene.ObjectHypothesis

Bases: AnalyzableAnnotation

An Annotation that describes an entity observed in the scene, that shall be analyzed further. This is considered as a super class for everything that could potentially be necessary to look at. Examples for this are: Detected objects, Detected humans, but also subparts of detected objects. The latter includes specific features of an object or subcomponents that need their individual analysis.

Analyzables can get their own Annotations, might have 3D/6D points and their own ROI.

class robokudo.types.scene.HumanHypothesis

Bases: ObjectHypothesis

In contrast to ObjectHypothesis, we have many different aspects on a Object to annotate. Therefore, the semantics of self.points, self.centroid and self.roi on this Hypothesis are a bit different. These variables should always contain the maximum region of the person we have been able to detect so far. Examples:

• When running only a face detection, they should be adjusted to the ROI for the face.

• When running a full body detection + face detection, they should be adjusted to everything the full body detection and the face recognition was able to see. Basically a Union over the ROIs generated for both.

In general, PersonHypotheses should rely more on Annotations and also annotate the individual detected features, like body parts or activities.

goal = None

result = None

class robokudo.types.scene.RegionHypothesis

Bases: AnalyzableAnnotation, robokudo.types.core.Nameable

A region in the scene. It doesn’t necessarily focus on one specific object, but is rather used as a data structure to analyze a specific part of the 3d space. Examples: A region above a sofa for free seat estimation, the space of a sink to check if it is filled with water, etc.

class robokudo.types.scene.ParthoodHypothesis

Bases: AnalyzableAnnotation, robokudo.types.core.Nameable

This annotation can be used to represent parts of an object. We mainly refer to ‘features’ and ‘components’. A logo at a specific place on an object would be a feature, while a control unit on an electrical device is a component.

Parthood Annotations are still a Hypothesis, because due to bad pose estimation we might actually not refer to the correct region of the parthood. Example: Pose estimation is off by 180 degrees around the up-axis and you are referring to a feature on the front face of an object.

class robokudo.types.scene.ParthoodComponentHypothesis

Bases: ParthoodHypothesis

This annotation can be used to represent parts of an object. We mainly refer to ‘features’ and ‘components’. A logo at a specific place on an object would be a feature, while a control unit on an electrical device is a component.

Parthood Annotations are still a Hypothesis, because due to bad pose estimation we might actually not refer to the correct region of the parthood. Example: Pose estimation is off by 180 degrees around the up-axis and you are referring to a feature on the front face of an object.

class robokudo.types.scene.ParthoodFeatureHypothesis

Bases: ParthoodHypothesis

This annotation can be used to represent parts of an object. We mainly refer to ‘features’ and ‘components’. A logo at a specific place on an object would be a feature, while a control unit on an electrical device is a component.

Parthood Annotations are still a Hypothesis, because due to bad pose estimation we might actually not refer to the correct region of the parthood. Example: Pose estimation is off by 180 degrees around the up-axis and you are referring to a feature on the front face of an object.

class robokudo.types.scene.OccupiedAnnotation

Bases: robokudo.types.core.Annotation

This annotation can be used to indicate that a region is occupied.

occupied = False