hri.hri.HRIListener¶
- class hri.hri.HRIListener(reference_frame='base_link')¶
Main entry point to pyhri.
- __init__(reference_frame='base_link')¶
Methods
__init__
([reference_frame])close
()on_body
(callback)Registers a callback function, to be invoked everytime a new body is detected.
on_body_lost
(callback)Registers a callback function, to be invoked everytime a previously tracked body is lost (eg, not detected anymore)
on_face
(callback)Registers a callback function, to be invoked everytime a new face is detected.
on_face_lost
(callback)Registers a callback function, to be invoked everytime a previously tracked face is lost (eg, not detected anymore).
on_person
(callback)Registers a callback function, to be invoked everytime a new person is detected.
on_person_lost
(callback)Registers a callback function, to be invoked everytime a person is lost.
on_tracked_person
(callback)Registers a callback function, to be invoked everytime a new person is detected and actively tracked (eg, currently seen).
on_tracked_person_lost
(callback)Registers a callback function, to be invoked everytime a previously tracked person is lost.
on_voice
(callback)Registers a callback function, to be invoked everytime a new voice is detected.
on_voice_lost
(callback)Registers a callback function, to be invoked everytime a previously tracked voice is lost (eg, not detected anymore)
set_reference_frame
(frame)Sets the reference frame from which the TF transformations of the persons will be returned (via Person::transform()).
Attributes
bodies
Returns the list of all currently tracked bodies, mapped to their ID.
faces
Returns the list of all currently tracked faces, mapped to their ID.
known_persons
Returns the list of all known persons, whether or not they are currently actively detected (eg, seen).
tracked_persons
Returns the list of currently detected persons, mapped to their IDs
voices
Returns the list of all currently 'tracked' voices, mapped to their ID.