.. _program_listing_file_include_hri_face.hpp:

Program Listing for File face.hpp
=================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_hri_face.hpp>` (``include/hri/face.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2023 PAL Robotics S.L. All rights reserved.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef HRI__FACE_HPP_
   #define HRI__FACE_HPP_
   
   #include <memory>
   #include <optional>
   #include <string>
   
   #include "geometry_msgs/msg/transform_stamped.hpp"
   #include "hri_msgs/msg/expression.hpp"
   #include "hri_msgs/msg/facial_action_units.hpp"
   #include "hri_msgs/msg/facial_landmarks.hpp"
   #include "hri_msgs/msg/normalized_region_of_interest2_d.hpp"
   #include "hri_msgs/msg/soft_biometrics.hpp"
   #include "opencv2/core.hpp"
   #include "rclcpp/rclcpp.hpp"
   #include "sensor_msgs/msg/image.hpp"
   #include "tf2_ros/buffer.h"
   
   #include "hri/feature_tracker.hpp"
   #include "hri/types.hpp"
   
   namespace hri
   {
   
   // TODO(LJU): possibly subscribe also to the /frontalized sub-topic
   class Face : public FeatureTracker, public std::enable_shared_from_this<Face>
   {
     friend class HRIListener;  // for invalidate()
   
   public:
     Face(
       ID id,
       NodeInterfaces node_interfaces,
       rclcpp::CallbackGroup::SharedPtr callback_group,
       const tf2::BufferCore & tf_buffer,
       const std::string & reference_frame);
   
     virtual ~Face();
   
     std::string gazeFrame() const {return kGazeFrame_;}
   
     std::optional<cv::Rect2f> roi() const {return roi_;}
   
     std::optional<cv::Mat> cropped() const {return cropped_;}
   
     std::optional<cv::Mat> aligned() const {return aligned_;}
   
     std::optional<FacialLandmarks> facialLandmarks() const {return landmarks_;}
   
     std::optional<FacialActionUnits> facialActionUnits() const {return facial_action_units_;}
   
     std::optional<float> age() const {return age_;}
   
     std::optional<Gender> gender() const {return gender_;}
   
     std::optional<Expression> expression() const {return expression_;}
   
     std::optional<ExpressionVA> expressionVA() const {return expression_va_;}
   
     std::optional<float> expressionConfidence() const {return expression_confidence_;}
   
     std::optional<geometry_msgs::msg::TransformStamped> gazeTransform() const;
   
   private:
     void onRoI(hri_msgs::msg::NormalizedRegionOfInterest2D::ConstSharedPtr msg);
     void onCropped(sensor_msgs::msg::Image::ConstSharedPtr msg);
     void onAligned(sensor_msgs::msg::Image::ConstSharedPtr msg);
     void onLandmarks(hri_msgs::msg::FacialLandmarks::ConstSharedPtr msg);
     void onSoftBiometrics(hri_msgs::msg::SoftBiometrics::ConstSharedPtr msg);
     void onFacs(hri_msgs::msg::FacialActionUnits::ConstSharedPtr msg);
     void onExpression(hri_msgs::msg::Expression::ConstSharedPtr msg);
   
     void invalidate();
   
     std::optional<cv::Rect2f> roi_;
     std::optional<cv::Mat> cropped_;
     std::optional<cv::Mat> aligned_;
     std::optional<FacialLandmarks> landmarks_;
     std::optional<float> age_;
     std::optional<Gender> gender_;
     std::optional<FacialActionUnits> facial_action_units_;
     std::optional<Expression> expression_;
     std::optional<ExpressionVA> expression_va_;
     std::optional<float> expression_confidence_;
   
     rclcpp::Subscription<hri_msgs::msg::NormalizedRegionOfInterest2D>::SharedPtr roi_subscriber_;
     rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr cropped_subscriber_;
     rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr aligned_subscriber_;
     rclcpp::Subscription<hri_msgs::msg::FacialLandmarks>::SharedPtr landmarks_subscriber_;
     rclcpp::Subscription<hri_msgs::msg::SoftBiometrics>::SharedPtr softbiometrics_subscriber_;
     rclcpp::Subscription<hri_msgs::msg::FacialActionUnits>::SharedPtr facial_action_units_subscriber_;
     rclcpp::Subscription<hri_msgs::msg::Expression>::SharedPtr expression_subscriber_;
   
     const std::string kGazeFrame_;
   };
   
   typedef std::shared_ptr<Face> FacePtr;
   typedef std::shared_ptr<const Face> ConstFacePtr;
   
   }  // namespace hri
   
   #endif  // HRI__FACE_HPP_