people_recognition_2d.people_recognizer_2d¶

Classes¶

PeopleRecognizer2D

Functions¶

`_get_and_wait_for_service`(srv_name, srv_class)	Function to start and wait for dependent service
`_get_service_response`(srv, args)	Method to get service response with checks

Module Contents¶

people_recognition_2d.people_recognizer_2d._get_and_wait_for_service(srv_name, srv_class)[source]¶

Function to start and wait for dependent service

Param:: srv_name: Service name
Param:: srv_class: Service class
Returns:: started ServiceProxy object

people_recognition_2d.people_recognizer_2d._get_service_response(srv, args)[source]¶

Method to get service response with checks

Param:: srv: service
Param:: args: Input arguments of the service request
Returns:: response

class people_recognition_2d.people_recognizer_2d.PeopleRecognizer2D(pose_estimation_srv_name, face_recognition_srv_name, face_properties_srv_name, color_extractor_srv_name, enable_age_gender_detection, enable_shirt_color_extraction)[source]¶

Bases: object

_pose_estimation_srv¶

_face_recognition_srv¶

_enable_age_gender_detection¶

_enable_shirt_color_extraction¶

_bridge¶

static _get_recognitions_with_label(label, recognitions)[source]¶

static _get_face_rois_ids_pose_estimation(recognitions)[source]¶

Get ROIs of faces from pose estimation using the nose, left ear and right ear

Param:: recognitions from pose estimation

static _get_body_parts_pose_estimation(group_id, recognitions)[source]¶

Get a list of all bodyparts associated with a particular group ID

Param:: group_id: The group ID of the bodyparts to be fetched
Param:: recognitions: All bodyparts received from pose estimation
Returns:: List of body_parts

static _get_container_recognition(roi, recognitions, padding_factor=0.1)[source]¶

Associate pose estimation ROI with best pose estimation face ROI

Param:: roi: pose estimation face roi
Param:: recognitions: face recognitions

static _get_best_label_from_categorical_distribution(c)[source]¶

static _image_from_roi(image, roi)[source]¶

static _get_best_label(recognition)[source]¶

static _face_properties_to_label(face_properties)[source]¶

static _shirt_colors_to_label(shirt_colors)[source]¶

Convert shirt colors array to label string

Param:: shirt_colors: Array to colors
Returns:: string label

static _shirt_roi_from_face_roi(face_roi, image_shape)[source]¶

Given a ROI for a face, shift the ROI to the person’s shirt. Assuming the person is upright :/

Parameters:

face_roi – RegionOfInterest
image_shape – tuple of the image shape

Returns:

RegionOfInterest

recognize(image_msg)[source]¶