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PONao Robot and "FaceDetected" variable
 

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  1. PONao Robot and "FaceDetected" variable
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    <p>I am trying to do some visual debugging of the Nao's face detection, just draw a rectangle around the detected(s) face(s). Instead of acquire the image and use an opencv algorithm to do the face detection, I am acquiring the image (for visual debugging) and using the parameters returned by Nao's face detection system.</p> <p>This system is provided by <a href="http://www.aldebaran-robotics.com/documentation/naoqi/vision/alfacedetection.html#how-it-works" rel="nofollow">Oki</a> and all the information is available into the variable "<a href="http://www.aldebaran-robotics.com/documentation/naoqi/vision/alfacedetection.html#facedetected-almemory-key" rel="nofollow">FaceDetected</a>". I have not problem to access to this variable. For my porpoise it is supposed I have to use "<strong>ShapeInfo</strong>" information.</p> <p>My questions is: How can I manipulate them to get the face position into the Cartesian image space?</p> <p>Note 1: I suppose the units are radians, but I have not official confirmation</p> <p>Note 2: After some experiments, I have discovered that <strong>alpha</strong> and <strong>beta</strong> are relatives to the image centre and <strong>sizeX</strong> and <strong>sizeY</strong> increases/decreases in relation with the face size (as is expected). So, I suppose the information is given as an Orthographic projection</p> <p>Note 3: Some examples of <strong>alpha</strong>, <strong>beta</strong> (range [-0.5,0.5]), <strong>sizeX</strong>, <strong>sizeY</strong> (range [0,1]) for a face located into the area top-right of the camera:</p> <pre><code>-0.232393 -0.0899552 0.358549 0.37366 -0.232393 -0.0899552 0.358549 0.37366 </code></pre>
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