pyhri¶
pyhri is a Python wrapper for the ROS4HRI framework. It implements the ROS REP-155.
Attention
Until it reaches version 1.0, pyhri is not complete, and does not cover the whole REP-155 specification!
Pull requests to implement more of REP-155 are very welcome.
Usage example¶
import rospy
from hri import HRIListener
rospy.init_node("pyhri_test")
hri = HRIListener()
# (start a ROS4HRI-compatible face detector like hri_face_detect)
while not rospy.is_shutdown():
# access the detected faces:
for id, face in hri.faces.items():
print("Currently seeing face %s" % id)
# (start a ROS4HRI-compatible person identification pipeline)
# (for instance, hri_face_identification and hri_person_manager)
# access known people:
for id, person in hri.tracked_persons.items():
if person.face:
print("Person %s is bound to face %s" % (id, person.face.id))
print("6D gaze transform: %s" % (id, person.face.gaze_transform()))
rospy.sleep(1)
Note
Check libhri for the C++ equivalent to pyhri.
API¶
|
Main entry point to pyhri. |
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Represents a known person (that can be currently tracked or not). |
|
Represents a detected face. |
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Represents a detected body. |
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Represents a detected voice. |