#include <face.h>

Inheritance diagram for hri::Face:

Public Member Functions
boost::optional< float >	age () const

cv::Mat	aligned () const
	Returns the face image, if necessary scaled, centered and 0-padded to match the /humans/faces/width and /humans/faces/height ROS parameters. More...

cv::Mat	cropped () const
	Returns the face image, if necessary scaled, centered and 0-padded to match the /humans/faces/width and /humans/faces/height ROS parameters. More...

	Face (ID id, ros::NodeHandle &nh, tf2_ros::Buffer *tf_buffer_ptr, const std::string &reference_frame)

boost::optional< std::array< IntensityConfidence, 99 > >	facialActionUnits () const
	the list of the facial action units detected on the face. More...

boost::optional< std::array< hri_msgs::NormalizedPointOfInterest2D, 70 > >	facialLandmarks () const
	the list of the 66 facial landmarks (2D points, expressed in normalised coordinates). More...

std::string	frame () const
	the name of the tf frame that correspond to this face More...

std::string	gazeFrame () const
	the name of the tf frame that correspond to the gaze direction and orientation of the face More...

boost::optional< geometry_msgs::TransformStamped >	gazeTransform () const
	Returns the (stamped) 3D transform of the gaze (if available). More...

boost::optional< Gender >	gender () const

void	init () override

NormROI	roi () const
	Returns the normalized 2D region of interest (RoI) of the face. More...

boost::optional< geometry_msgs::TransformStamped >	transform () const
	Returns the (stamped) 3D transform of the face (if available). More...

virtual	~Face ()

Public Member Functions inherited from hri::FeatureTracker
	FeatureTracker (const FeatureTracker &)=delete

	FeatureTracker (ID id, const ros::NodeHandle &nh)

std::string	getNamespace () const

ID	id () const

std::string	ns () const

bool	operator< (const FeatureTracker &other) const

virtual	~FeatureTracker ()

Private Member Functions
void	onAligned (sensor_msgs::ImageConstPtr roi)

void	onCropped (sensor_msgs::ImageConstPtr roi)

void	onLandmarks (hri_msgs::FacialLandmarksConstPtr landmarks)

void	onRoI (hri_msgs::NormalizedRegionOfInterest2DConstPtr roi)

void	onSoftBiometrics (hri_msgs::SoftBiometricsConstPtr biometrics)

Private Attributes
std::string	_reference_frame

tf2_ros::Buffer *	_tf_buffer_ptr

cv::Mat	aligned_

ros::Subscriber	aligned_subscriber_

cv::Mat	cropped_

ros::Subscriber	cropped_subscriber_

std::array< IntensityConfidence, 99 >	facial_action_units_

std::array< hri_msgs::NormalizedPointOfInterest2D, 70 >	facial_landmarks_

ros::Subscriber	landmarks_subscriber_

size_t	nb_roi

NormROI	roi_

ros::Subscriber	roi_subscriber_

hri_msgs::SoftBiometricsConstPtr	softbiometrics_

ros::Subscriber	softbiometrics_subscriber_

Additional Inherited Members
Protected Attributes inherited from hri::FeatureTracker
ID	id_

ros::NodeHandle	node_

std::string	ns_

Detailed Description

Definition at line 70 of file face.h.

Constructor & Destructor Documentation

◆ Face()

Face::Face	(	ID	id,
		ros::NodeHandle &	nh,
		tf2_ros::Buffer *	tf_buffer_ptr,
		const std::string &	reference_frame
	)

Definition at line 37 of file face.cpp.

◆ ~Face()

Face::~Face ( )

virtual

Definition at line 46 of file face.cpp.

Member Function Documentation

◆ age()

boost::optional< float > Face::age ( ) const

Definition at line 122 of file face.cpp.

◆ aligned()

cv::Mat Face::aligned ( ) const

Returns the face image, if necessary scaled, centered and 0-padded to match the /humans/faces/width and /humans/faces/height ROS parameters.

In addition, the face is rotated so that the eyes are horizontal.

Definition at line 98 of file face.cpp.

◆ cropped()

cv::Mat Face::cropped ( ) const

Returns the face image, if necessary scaled, centered and 0-padded to match the /humans/faces/width and /humans/faces/height ROS parameters.

Definition at line 88 of file face.cpp.

◆ facialActionUnits()

boost::optional<std::array<IntensityConfidence, 99> > hri::Face::facialActionUnits ( ) const

inline

the list of the facial action units detected on the face.

Action units indices follow the Action Unit naming convention by Ekman. List here: https://en.wikipedia.org/wiki/Facial_Action_Coding_System

Note that the list is sparse (some indices do not exist in Ekman classification). In addition, depending on the AU detector, some action units might not be detected. In these cases, the confidence value will be 0.

Constants defined in hri_msgs/FacialActionUnits.h can be used to access specific action units by name.

Definition at line 153 of file face.h.

◆ facialLandmarks()

boost::optional<std::array<hri_msgs::NormalizedPointOfInterest2D, 70> > hri::Face::facialLandmarks ( ) const

inline

the list of the 66 facial landmarks (2D points, expressed in normalised coordinates).

The location of the landmarks is defined here: https://github.com/CMU-Perceptual-Computing-Lab/openpose/blob/master/doc/output.md#face-output-format

Constants defined in hri_msgs/FacialLandmarks.h can be used to access specific points on the face.

Definition at line 136 of file face.h.

◆ frame()

std::string hri::Face::frame ( ) const

inline

the name of the tf frame that correspond to this face

Definition at line 80 of file face.h.

◆ gazeFrame()

std::string hri::Face::gazeFrame ( ) const

inline

the name of the tf frame that correspond to the gaze direction and orientation of the face

Definition at line 88 of file face.h.

◆ gazeTransform()

boost::optional< geometry_msgs::TransformStamped > Face::gazeTransform ( ) const

Returns the (stamped) 3D transform of the gaze (if available).

Definition at line 157 of file face.cpp.

◆ gender()

boost::optional< Gender > Face::gender ( ) const

Definition at line 130 of file face.cpp.

◆ init()

void Face::init ( )

overridevirtual

Implements hri::FeatureTracker.

Definition at line 52 of file face.cpp.

◆ onAligned()

void Face::onAligned ( sensor_msgs::ImageConstPtr roi )

private

Definition at line 93 of file face.cpp.

◆ onCropped()

void Face::onCropped ( sensor_msgs::ImageConstPtr roi )

private

Definition at line 83 of file face.cpp.

◆ onLandmarks()

void Face::onLandmarks ( hri_msgs::FacialLandmarksConstPtr landmarks )

private

Definition at line 103 of file face.cpp.

◆ onRoI()

void Face::onRoI ( hri_msgs::NormalizedRegionOfInterest2DConstPtr roi )

private

Definition at line 73 of file face.cpp.

◆ onSoftBiometrics()

void Face::onSoftBiometrics ( hri_msgs::SoftBiometricsConstPtr biometrics )

private

Definition at line 116 of file face.cpp.

◆ roi()

NormROI Face::roi ( ) const

Returns the normalized 2D region of interest (RoI) of the face.

Use example:

HRIListener hri_listener;
 
auto faces = hri_listener.getFaces();
 
for (auto const& face : faces)
{
  auto roi = face.second.lock()->roi();
  cout << "Normalized size of face_" << face.first << ": ";
  cout << (roi.xmax - roi.xmin) << "x" << (roi.ymax - roi.ymin) << endl;
}

The pixel coordinates are provided in the original camera's image coordinate space.

Definition at line 78 of file face.cpp.

◆ transform()

boost::optional< geometry_msgs::TransformStamped > Face::transform ( ) const

Returns the (stamped) 3D transform of the face (if available).

Definition at line 140 of file face.cpp.

Member Data Documentation

◆ _reference_frame

std::string hri::Face::_reference_frame

private

Definition at line 204 of file face.h.

◆ _tf_buffer_ptr

tf2_ros::Buffer* hri::Face::_tf_buffer_ptr

private

Definition at line 205 of file face.h.

◆ aligned_

cv::Mat hri::Face::aligned_

private

Definition at line 191 of file face.h.

◆ aligned_subscriber_

ros::Subscriber hri::Face::aligned_subscriber_

private

Definition at line 189 of file face.h.

◆ cropped_

cv::Mat hri::Face::cropped_

private

Definition at line 187 of file face.h.

◆ cropped_subscriber_

ros::Subscriber hri::Face::cropped_subscriber_

private

Definition at line 185 of file face.h.

◆ facial_action_units_

std::array<IntensityConfidence, 99> hri::Face::facial_action_units_

private

Definition at line 202 of file face.h.

◆ facial_landmarks_

std::array<hri_msgs::NormalizedPointOfInterest2D, 70> hri::Face::facial_landmarks_

private

Definition at line 195 of file face.h.

◆ landmarks_subscriber_

ros::Subscriber hri::Face::landmarks_subscriber_

private

Definition at line 193 of file face.h.

◆ nb_roi

size_t hri::Face::nb_roi

private

Definition at line 179 of file face.h.

◆ roi_

NormROI hri::Face::roi_

private

Definition at line 183 of file face.h.

◆ roi_subscriber_

ros::Subscriber hri::Face::roi_subscriber_

private

Definition at line 181 of file face.h.

◆ softbiometrics_

hri_msgs::SoftBiometricsConstPtr hri::Face::softbiometrics_

private

Definition at line 199 of file face.h.

◆ softbiometrics_subscriber_

ros::Subscriber hri::Face::softbiometrics_subscriber_

private

Definition at line 197 of file face.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Face()

◆ ~Face()

Member Function Documentation

◆ age()

◆ aligned()

◆ cropped()

◆ facialActionUnits()

◆ facialLandmarks()

◆ frame()

◆ gazeFrame()

◆ gazeTransform()

◆ gender()

◆ init()

◆ onAligned()

◆ onCropped()

◆ onLandmarks()

◆ onRoI()

◆ onSoftBiometrics()

◆ roi()

◆ transform()

Member Data Documentation

◆ _reference_frame

◆ _tf_buffer_ptr

◆ aligned_

◆ aligned_subscriber_

◆ cropped_

◆ cropped_subscriber_

◆ facial_action_units_

◆ facial_landmarks_

◆ landmarks_subscriber_

◆ nb_roi

◆ roi_

◆ roi_subscriber_

◆ softbiometrics_

◆ softbiometrics_subscriber_