{"id":27,"date":"2024-04-04T08:01:23","date_gmt":"2024-04-04T05:01:23","guid":{"rendered":"https:\/\/sisu.ut.ee\/rosak\/liitreaalsuse-margised-rosis\/"},"modified":"2024-04-05T11:56:24","modified_gmt":"2024-04-05T08:56:24","slug":"liitreaalsuse-margised-rosis","status":"publish","type":"page","link":"https:\/\/sisu.ut.ee\/rosak\/liitreaalsuse-margised-rosis\/","title":{"rendered":"1. Liitreaalsuse m\u00e4rgised ROSis"},"content":{"rendered":"<blockquote>\r\n\t<p>\r\n\t\t<strong><span id=\"docs-internal-guid-71bc1fdd-7fff-5c31-ed9e-c9dbd615915f\">Inimestena on meil \u00fcpris lihtne vaadata objekte enda \u00fcmber ja teada, mis need on. Arvutitele v\u00f5ib see valmistada probleeme. Sellep\u00e4rast on robotitega t\u00f6\u00f6tamisel m\u00f5nikord v\u00f5imalik ja kasulik nende elu lihtsustada ja kasutada <\/span><span>liitreaalsuse m\u00e4rgiseid<\/span><span>.<\/span><\/strong>\r\n\t<\/p>\r\n<\/blockquote>\r\n\r\n<p>\r\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d314f9702b2-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d314f9702b2-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d314f9702b2-collapse\"><strong>Mis on liitreaalsuse m\u00e4rgised?<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d314f9702b2-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d314f9702b2-heading\">\n            <div class=\"accordion-body\"><span id=\"docs-internal-guid-462005c6-7fff-7e58-fe72-d3528d9abe02\">Liitreaalsuse (ing k. <\/span><span>Augmented Reality<\/span><span>) m\u00e4rgised ehk AR m\u00e4rgised on must-valged pildikesed, mis meenutavad QR koode. Alloleval pildil on n\u00e4ha m\u00f5nda n\u00e4idet AR m\u00e4rgistest. Pane t\u00e4hele, kuidas igal m\u00e4rgisel on erinev ruudustik ja et k\u00f5ik nurgad on 90-kraadised. See ruudustik on igal m\u00e4rgisel unikaalne ja ei kordu ka m\u00e4rgiseid p\u00f6\u00f6rates.<\/span>\r\n\r\n\r\n<p>\r\n\t<img loading=\"lazy\" decoding=\"async\" width=\"217\" height=\"218\" class=\"alignnone wp-image-107\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/marker1.png\" title=\"marker1.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/marker1.png 217w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/marker1-150x150.png 150w\" sizes=\"auto, (max-width: 217px) 100vw, 217px\"><img loading=\"lazy\" decoding=\"async\" width=\"226\" height=\"226\" class=\"alignnone wp-image-108\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/marker2.png\" title=\"marker2.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/marker2.png 226w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/marker2-150x150.png 150w\" sizes=\"auto, (max-width: 226px) 100vw, 226px\"><img loading=\"lazy\" decoding=\"async\" width=\"226\" height=\"226\" class=\"alignnone wp-image-109\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/marker3.png\" title=\"marker3.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/marker3.png 226w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/marker3-150x150.png 150w\" sizes=\"auto, (max-width: 226px) 100vw, 226px\">\r\n<\/p>\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-c1da9942-7fff-645f-d84a-76e30f97a126\">Kaamera abil on v\u00f5imalik AR m\u00e4rgiste abil saada palju kasulikku informatsiooni. V\u00f5imalik on leida, millise AR m\u00e4rgisega on tegemist, samuti saab kindlaks m\u00e4\u00e4rata m\u00e4rgise positsiooni ja orientatsiooni.<\/span>\r\n<\/p>\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-f4bd1286-7fff-86bb-082d-bec303267b35\">Seet\u00f5ttu on AR m\u00e4rgistel robootikas palju rakendusv\u00f5imalusi. Robot v\u00f5ib m\u00e4\u00e4rata enda asukohta ruumis, kui ta n\u00e4eb fikseeritud AR m\u00e4rgist, mida ta on ka varem samas kohas n\u00e4inud. Kinnitades AR m\u00e4rgise roboti enda k\u00fclge saame kaamerapildist teada roboti asukoha. V\u00f5imalik on ette kujutada veel paljusid olukordi, kus AR m\u00e4rgised robootikas kasulikud on.<\/span>\r\n<\/p>\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-b81bb411-7fff-a783-c8aa-180e47ac9d34\">Kasutades ROS-i kimpu <\/span><span style=\"font-family:Courier New,Courier,monospace\">ar_track_alvar<\/span><span> saame me AR m\u00e4rgisest j\u00e4rgneva info:<\/span>\r\n<\/p>\r\n\r\n<p>\r\n\tNeist toorandmetest saame eristada kolm k\u00f5ige huvipakkuvamat sektsiooni:\r\n<\/p>\r\n\r\n<ol>\r\n\t<li>\r\n\t\tID\r\n\t<\/li>\r\n\t<li>\r\n\t\tPositsioon (ingl <em>position<\/em>)\r\n\t<\/li>\r\n\t<li>\r\n\t\tOrientatsioon (ingl <em>orientation<\/em>)\r\n\t<\/li>\r\n<\/ol>\r\n\r\n<p>\r\n\tJ\u00e4rgnevalt tutvume neist iga\u00fchega veidi l\u00e4hemalt.\r\n<\/p>\r\n\r\n<p>\r\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\r\n\r\n\r\n<p>\r\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d314f9702cd-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d314f9702cd-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d314f9702cd-collapse\"><strong>ID<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d314f9702cd-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d314f9702cd-heading\">\n            <div class=\"accordion-body\"><span id=\"docs-internal-guid-ddda1620-7fff-3269-32ba-4175770c8357\">Igale m\u00e4rgisele vastab kindel ID. Alloleval pildil on n\u00e4ha AR m\u00e4rgiseid ID-ga 3, 4 ja 5. Sama ID-ga m\u00e4rgised n\u00e4evad alati v\u00e4lja samasugused, ja kahel erineval m\u00e4rgisel ei ole kunagi sama ID. See t\u00e4hendab, et m\u00e4rgise must-valge ruudustiku mustri j\u00e4rgi on v\u00f5imalik teada saada m\u00e4rgise ID.<\/span>\r\n\r\n\r\n<p>\r\n\t<img loading=\"lazy\" decoding=\"async\" width=\"889\" height=\"389\" class=\"alignnone wp-image-110\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/ar_markers_w_id.png\" title=\"ar_markers_w_id.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/ar_markers_w_id.png 889w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/ar_markers_w_id-300x131.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/ar_markers_w_id-768x336.png 768w\" sizes=\"auto, (max-width: 889px) 100vw, 889px\">\r\n<\/p>\r\n\r\n<blockquote class=\"os-kollane\">\r\n\t<h4>\r\n\t\t<span id=\"docs-internal-guid-ddda1620-7fff-3269-32ba-4175770c8357\">Infoks!<\/span>\r\n\t<\/h4>\r\n\r\n\t<p>\r\n\t\t<span>K\u00fcll aga peab t\u00e4hele panema, millise s\u00fcsteemiga on tegu. Nagu on maailmas palju keeli, nii on ka palju erinevaid s\u00fcsteeme AR m\u00e4rgiste jaoks. Seni, kuni on teada, millist s\u00fcsteemi kasutame, on aga lihtne m\u00e4rgise mustri j\u00e4rgi saada k\u00e4tte selle ID.<\/span>\r\n\t<\/p>\r\n<\/blockquote>\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-60469c36-7fff-6cf7-90ff-529231ee5f03\">\u00dcks v\u00f5imalik olukord, kus m\u00e4rgiste ID on kasulik, on asjade tuvastamine. N\u00e4iteks hulga sarnaste karpide hulgast kindla karbi \u00fclesleidmine v\u00f5ib olla keeruline, sest ei piisa sellest, kui tuvastada, et tegemist on karbiga. Kui aga igal karbil on peal AR m\u00e4rgis, ja me otsime n\u00e4iteks karpi m\u00e4rgisega nr 5, l\u00e4heb \u00f5ige karbi leidmine v\u00e4ga palju kergemaks.<\/span>\r\n<\/p>\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-0ff542ee-7fff-d88c-59d0-a608f938c4a3\">V\u00f5ib ka juhtuda, et robot otsib kindlat eset teiste hulgast, aga ta ei tea, mis t\u00fc\u00fcpi eset ta otsib, ega oska ka \u00fchtegi eset \u00e4ra tunda. Sellist olukorda illustreerivad allolevad pildid.<\/span><span id=\"docs-internal-guid-1639f575-7fff-fd91-8f43-b6975920d9c3\"> Selle asemel, et \u00f5petada robot \u00e4ra tundma suurt hulka erinevaid esemeid, on programmeerija jaoks v\u00e4ga palju lihtsam teha robotile selgeks, et vaja on leida kindla ID-ga AR m\u00e4rgis.<\/span>\r\n<\/p>\r\n\r\n<p>\r\n\t<em>Liiguta pildi keskel olevat slaiderit!<\/em>\r\n<\/p>\r\n\r\n<div class=\"h5p-iframe-wrapper\"><div class=\"video-placeholder-wrapper video-placeholder-wrapper--fixed\" style=\"height: 366px;\">\n\t\t\t    <div class=\"video-placeholder d-flex justify-content-center align-items-center\">\n\t\t\t        <div class=\"overlay text-white p-2 w-100 text-center d-block justify-content-center align-items-center\">\n\t\t\t            <div>Kolmandate osapoolte sisu n\u00e4gemiseks palun n\u00f5ustu k\u00fcpsistega.<\/div>\n\t\t\t            <button class=\"btn btn-secondary btn-sm mt-1 consent-change\">Muuda n\u00f5usolekut<\/button>\n\t\t\t        <\/div>\n\t\t\t    <\/div>\n\t\t\t<\/div>\n<\/div>\r\n\r\n<p>\r\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\r\n\r\n\r\n<p>\r\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d314f9702d3-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d314f9702d3-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d314f9702d3-collapse\"><strong>Positsioon<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d314f9702d3-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d314f9702d3-heading\">\n            <div class=\"accordion-body\"><span id=\"docs-internal-guid-02d905d7-7fff-97ac-0785-f99a55b89a6b\">AR m\u00e4rgise positsioon on selle suhteline asukoht kaamerapildi keskpunkti suhtes.<\/span>\r\n\r\n\r\n<div class=\"h5p-iframe-wrapper\"><div class=\"video-placeholder-wrapper video-placeholder-wrapper--fixed\" style=\"height: 366px;\">\n\t\t\t    <div class=\"video-placeholder d-flex justify-content-center align-items-center\">\n\t\t\t        <div class=\"overlay text-white p-2 w-100 text-center d-block justify-content-center align-items-center\">\n\t\t\t            <div>Kolmandate osapoolte sisu n\u00e4gemiseks palun n\u00f5ustu k\u00fcpsistega.<\/div>\n\t\t\t            <button class=\"btn btn-secondary btn-sm mt-1 consent-change\">Muuda n\u00f5usolekut<\/button>\n\t\t\t        <\/div>\n\t\t\t    <\/div>\n\t\t\t<\/div>\n<\/div>\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-7baec66d-7fff-0932-3f7b-8c9a76a663c7\">J\u00e4lgi \u00fclaltoodud videot. Kaamerapildis on AR m\u00e4rgis, mida liigutatakse kaamera suhtes \u00fcles ja alla, vasakule ja paremale, kaugemale ja l\u00e4hemale. \u00dcles-alla liikumisel on n\u00e4ha, kuidas muutuvad numbrid <\/span><strong><span>y-teljes<\/span><\/strong><span>. Vasakule ja paremale liikudes on n\u00e4ha k\u00f5ige rohkem muutust <\/span><strong><span>x-teljes<\/span><\/strong><span>. Kaugemale ja l\u00e4hemale liikudes muutuvad enim aga numbrid <\/span><strong><span>z-teljes<\/span><\/strong><span>. Sellest on n\u00e4ha, et need kolm komponenti (x, y, z) annavad meile infot AR m\u00e4rgise <\/span><strong><span>positsiooni<\/span><\/strong><span> kohta.<\/span>\r\n<\/p>\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-b3ae1db6-7fff-aee2-6582-ccecb7e93a4a\">Alloleval pildil on toodud veel \u00fcks n\u00e4ide. Pildil on n\u00e4ha simuleeritud robotit, mille ees seinal on AR m\u00e4rgis. M\u00e4rgis on 1.2 m kaugusel roboti ees ehk m\u00e4rgise kaugus robotist x-teljes on 1.2 m (roheline joon n\u00e4itab 1 m kaugust seinast). Leia see kaugus pildi k\u00f5rval olevatest toorandmetest. Punane nool pildil n\u00e4itab roboti koordinaats\u00fcsteemi x-telje suunda.<\/span>\r\n<\/p>\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-634df4e1-7fff-258f-3b4f-0aa89ed64253\">Rohelise noolega on pildil m\u00e4rgitud y-komponent. Y-teljes on AR m\u00e4rgise kaugus -0.26 m, mis t\u00e4hendab, et m\u00e4rgise keskpunkt on roboti kaamerapildi keskpunktist 0.26 m paremal.<\/span>\r\n<\/p>\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-fb0efc87-7fff-416c-1c69-e658f316bd55\">M\u00e4rgise positsioon z-teljes on nullil\u00e4hedane, mis t\u00e4hendab, et m\u00e4rgise keskpunkt on \u00fcsna samal k\u00f5rgusel roboti kaamerapildi keskpunktiga. Pildil on z-telg m\u00e4rgitud sinise noolega.<\/span>\r\n<\/p>\r\n\r\n<p>\r\n\t<img loading=\"lazy\" decoding=\"async\" width=\"1284\" height=\"697\" class=\"alignnone wp-image-112\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/position.png\" title=\"position.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/position.png 1284w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/position-300x163.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/position-1024x556.png 1024w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/position-768x417.png 768w\" sizes=\"auto, (max-width: 1284px) 100vw, 1284px\">\r\n<\/p>\r\n\r\n<p>\r\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\r\n\r\n\r\n<p>\r\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d314f9702da-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d314f9702da-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d314f9702da-collapse\"><strong>Orientatsioon<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d314f9702da-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d314f9702da-heading\">\n            <div class=\"accordion-body\"><span id=\"docs-internal-guid-85a79cde-7fff-fd36-27c3-333e39bbc807\">Orientatsioon kirjeldab, mis suunas ja kui palju on AR m\u00e4rgist p\u00f6\u00f6ratud. Kuna m\u00e4rgise muster ei muutu ja sel puudub vertikaalne s\u00fcmmeetria, on mustri j\u00e4rgi v\u00f5imalik \u00f6elda, kui palju on m\u00e4rgist keeratud (ing k.<\/span><span> roll<\/span><span>). AR m\u00e4rgiste k\u00f5ik nurgad on 90-kraadised, seega kui m\u00e4rgist kallutada (ing k. <\/span><span>pitch<\/span><span>) v\u00f5i p\u00f6\u00f6rata (ing k. <\/span><span>yaw<\/span><span>), muutub osa nurkadest suuremaks kui 90 kraadi ja osa v\u00e4iksemaks. Selle n\u00e4ide on toodud parempoolsel pildil. Nende nurkade j\u00e4rgi on v\u00f5imalik leida m\u00e4rgise t\u00e4pne nurk ja suund kaamera suhtes. Teine viis m\u00e4rgise orientatsiooni m\u00f5istmiseks on m\u00f5elda m\u00e4rgise sirgete joonte suunalistest suunavektoritest \u2013 vektorite koondumine ja lahknemine annavad infot m\u00e4rgise orientatsiooni kohta.<\/span>\r\n\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-11a3f658-7fff-140a-cd01-08e5b04a1a64\">Orientatsiooni toorandmed, mille saame <\/span><span>ar_track_alvar<\/span><span> kimpu kasutades, n\u00e4evad esmapilgul v\u00e4lja, nagu need v\u00f5iksid olla nurgad <\/span><span>x<\/span><span>-, <\/span><span>y<\/span><span>\u2013 ja <\/span><span>z<\/span><span>-teljes, lisaks veel \u00fcks <\/span><span>w<\/span><span>. See ei ole nii.<\/span>\r\n<\/p>\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-96cf1dba-7fff-547c-f1b2-40b7c75c09aa\">Need x, y, z ja w moodustavad <strong>kvaternioni<\/strong>. Kvaternionid on matemaatilised konstruktsioonid, mida kasutatakse 3D p\u00f6\u00f6rete kirjeldamiseks. Selleks, et need oleksid kergemini m\u00f5istetavad, tuleb need <strong>teisendada<\/strong> m\u00f5nele muule kujule, n\u00e4iteks <strong>Euleri nurkadeks<\/strong>. Euleri nurgad kirjeldavad objekti orientatsiooni x- (<\/span><span>roll<\/span><span>), y- (<\/span><span>pitch<\/span><span>) ja z-teljes (<\/span><span>yaw<\/span><span>) fikseeritud v\u00f5rdlusorientatsiooni suhtes. Need kolm telge on toodud alloleval vasakpoolsel pildil. Antud juhul on v\u00f5rdlusorientatsiooniks p\u00f6\u00f6ramata AR m\u00e4rgise orientatsioon.<\/span>\r\n<\/p>\r\n\r\n<p>\r\n\t<img loading=\"lazy\" decoding=\"async\" width=\"815\" height=\"814\" class=\"alignnone wp-image-113\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/roll_pitch_yaw_1.png\" title=\"roll_pitch_yaw_1.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/roll_pitch_yaw_1.png 815w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/roll_pitch_yaw_1-300x300.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/roll_pitch_yaw_1-150x150.png 150w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/roll_pitch_yaw_1-768x767.png 768w\" sizes=\"auto, (max-width: 815px) 100vw, 815px\"><img loading=\"lazy\" decoding=\"async\" width=\"886\" height=\"886\" class=\"alignnone wp-image-114\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/roll_pitch_yaw_2.png\" title=\"roll_pitch_yaw_2.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/roll_pitch_yaw_2.png 886w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/roll_pitch_yaw_2-300x300.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/roll_pitch_yaw_2-150x150.png 150w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/roll_pitch_yaw_2-768x768.png 768w\" sizes=\"auto, (max-width: 886px) 100vw, 886px\">\r\n<\/p>\r\n\r\n<p>\r\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\r\n\r\n","protected":false},"excerpt":{"rendered":"<p>Inimestena on meil \u00fcpris lihtne vaadata objekte enda \u00fcmber ja teada, mis need on. Arvutitele v\u00f5ib see valmistada probleeme. Sellep\u00e4rast on robotitega t\u00f6\u00f6tamisel m\u00f5nikord v\u00f5imalik ja kasulik nende elu lihtsustada ja kasutada liitreaalsuse m\u00e4rgiseid. Mis on liitreaalsuse m\u00e4rgised? Liitreaalsuse (ing &#8230;<\/p>\n","protected":false},"author":98,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"inline_featured_image":false,"footnotes":""},"class_list":["post-27","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/27","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/users\/98"}],"replies":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/comments?post=27"}],"version-history":[{"count":4,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/27\/revisions"}],"predecessor-version":[{"id":445,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/27\/revisions\/445"}],"wp:attachment":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/media?parent=27"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}