people::FaceDetectorColor Class Reference

Inheritance diagram for people::FaceDetectorColor:

Classes
struct	NullDeleter
struct	RestampedPositionMeasurement
Public Member Functions
	FaceDetectorColor ()
void	goalCB ()
void	imageCBAll (const sensor_msgs::Image::ConstPtr &limage, const stereo_msgs::DisparityImage::ConstPtr &dimage, const sensor_msgs::CameraInfo::ConstPtr &lcinfo, const sensor_msgs::CameraInfo::ConstPtr &rcinfo, const sensor_msgs::PointCloud2::ConstPtr &depth_cloud_msg)
	Image callback for synced messages.
void	onInit ()
void	posCallback (const cob_people_detection::PositionMeasurementConstPtr &pos_ptr)
	Position message callback.
void	preemptCB ()
	~FaceDetectorColor ()
Public Attributes
actionlib::SimpleActionServer < cob_people_detection::FaceDetectorAction > *	as_
const double	BIGDIST_M
image_geometry::StereoCameraModel	cam_model_
ros::Publisher	cloud_pub_
cv::Mat	cv_image_out_
boost::mutex	cv_mutex_
string	data_source_mode_
sensor_msgs::CvBridge	dbridge_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	depth_cloud_sub_
boost::mutex	dimage_mutex_
message_filters::Subscriber < stereo_msgs::DisparityImage >	dimage_sub_
bool	do_continuous_
string	do_display_
bool	do_display_disparity_or_depth_
bool	do_publish_unknown_
bool	external_init_
Faces *	faces_
cob_people_detection::FaceDetectorFeedback	feedback_
string	haar_filename_
image_transport::ImageTransport	it_
sensor_msgs::CvBridge	lbridge_
message_filters::Subscriber < sensor_msgs::CameraInfo >	lcinfo_sub_
boost::mutex	limage_mutex_
image_transport::SubscriberFilter	limage_sub_
string	name_
ros::NodeHandle	nh_
std::string	node_name_
map< string, RestampedPositionMeasurement >	pos_list_
boost::mutex	pos_mutex_
ros::Publisher	pos_pub_
ros::Subscriber	pos_sub_
bool	quit_
message_filters::Subscriber < sensor_msgs::CameraInfo >	rcinfo_sub_
double	reliability_
cob_people_detection::FaceDetectorResult	result_
message_filters::Synchronizer < message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::PointCloud2 > >	sync_pointcloud_nodisp_
message_filters::Synchronizer < message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, stereo_msgs::DisparityImage, sensor_msgs::PointCloud2 > >	sync_pointcloud_showdisp_
message_filters::TimeSynchronizer < sensor_msgs::Image, stereo_msgs::DisparityImage, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo >	sync_stereo_
tf::TransformListener	tf_
bool	use_depth_

Detailed Description

FaceDetector - A wrapper around OpenCV's face detection, plus some usage of depth from stereo to restrict the results based on plausible face size.

Definition at line 87 of file color_face_detection.cpp.

Constructor & Destructor Documentation

people::FaceDetectorColor::FaceDetectorColor ( ) [inline]

Definition at line 273 of file color_face_detection.cpp.

people::FaceDetectorColor::~FaceDetectorColor ( ) [inline]

Definition at line 285 of file color_face_detection.cpp.

Member Function Documentation

void people::FaceDetectorColor::goalCB ( ) [inline]

Definition at line 300 of file color_face_detection.cpp.

void people::FaceDetectorColor::imageCBAll	(	const sensor_msgs::Image::ConstPtr &	limage,
		const stereo_msgs::DisparityImage::ConstPtr &	dimage,
		const sensor_msgs::CameraInfo::ConstPtr &	lcinfo,
		const sensor_msgs::CameraInfo::ConstPtr &	rcinfo,
		const sensor_msgs::PointCloud2::ConstPtr &	depth_cloud_msg
	)			`[inline]`

Image callback for synced messages.

For each new image: convert it to OpenCV format, perform face detection using OpenCV's haar filter cascade classifier, and (if requested) draw rectangles around the found faces. Can also compute which faces are associated (by proximity, currently) with faces it already has in its list of people.

Definition at line 354 of file color_face_detection.cpp.

void people::FaceDetectorColor::onInit ( ) [inline, virtual]

Implements nodelet::Nodelet.

Definition at line 166 of file color_face_detection.cpp.

void people::FaceDetectorColor::posCallback ( const cob_people_detection::PositionMeasurementConstPtr & pos_ptr ) [inline]

Position message callback.

When hooked into the person tracking filter, this callback will listen to messages from the filter with a person id and 3D position and adjust the person's face position accordingly.

Definition at line 317 of file color_face_detection.cpp.

void people::FaceDetectorColor::preemptCB ( ) [inline]

Definition at line 305 of file color_face_detection.cpp.