hri.face.Face¶
- class hri.face.Face(id, tf_buffer, reference_frame)¶
Represents a detected face.
- __init__(id, tf_buffer, reference_frame)¶
Methods
__init__
(id, tf_buffer, reference_frame)close
()gaze_transform
([from_frame])Returns a ROS TransformStamped of the face's gaze, from the from_frame reference basis.
transform
([from_frame])Returns a ROS TransformStamped of the face, from the from_frame reference basis.
Attributes
valid
Returns True if this face still exists (and thus is valid).
id
the face ID
ns
the full namespace of the face
frame
the face tf frame name
gaze_frame
the corresponding gaze tf frame name
roi
the face's region of interest (normalised between 0.
aligned
the cropped and aligned (eg, the two eyes are aligned horizontally) face image, as an OpenCV/numpy array, if available
landmarks
extracted facial landmarks, as a hri_msgs/FacialLnadmark object, if available
softbiometrics
estimated 'soft biometrics' (eg age, gender) of the face, as a hri_msgs/SoftBiometrics object, if available