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