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.