face_pose_estimation.py¶
What is this?¶

Estimate people face pose / gender from RGB Image and PeoplePoseArray. Please refer to Hyperface.
Subscribing Topic¶
~input
(sensor_msgs/Image
)Input image.
~input/pose_2d
(jsk_recognition_msgs/PeoplePoseArray
)Input people pose in 2D input image.
~input/pose
(jsk_recognition_msgs/PeoplePoseArray
)Input people pose in 3D.
Publishing Topic¶
~output/pose
(geometry_msgs/PoseArray
)Estimated face poses for each people.
~output/gender
(jsk_recognition_msgs/ClassificationResult
)Estimated gender with confidence for each people.
~output/rects
(jsk_recognition_msgs/RectArray
)Face rectangles in 2D input image used for cropping.
These 3 topics are need to be synchronized.
Parameters¶
~gpu
(Int, Default:-1
)GPU id.
-1
represents CPU mode.~classifier_name
(String, Default:rospy.get_name()
)Name of this classifier
~approximate_sync
(Bool, Default:False
)Use approximate synchronization policy.
~queue_size
(Int, Default:100
)Queue size for synchronization.
~slop
(Double, Default:0.1
)Slop for approximate sync.
~face_padding
(Double, Default:0.0
)Padding size factor for face rectangles.
~face_threshold
(Double, Default:0.5
)Threshold for confidence of detected faces.
Example¶
roslaunch jsk_perception sample_face_pose_estimation.launch gpu:=0