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faces.h

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/*********************************************************************
* Face-specific computer vision algorithms.
*
**********************************************************************
*
* Software License Agreement (BSD License)
* 
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
* 
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
* 
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
* 
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Author: Caroline Pantofaru
 * Modified for Kinect/Point Cloud support: Richard Bormann */

#ifndef FACES_H
#define FACES_H



#include <stdio.h>
#include <stdlib.h>
#include <iostream>
#include <vector>

#include <opencv/cv.hpp>
#include <opencv/cxcore.hpp>
#include <opencv/cvaux.hpp>

#include "image_geometry/stereo_camera_model.h"
#include "ros/time.h"
#include <boost/thread/mutex.hpp>
#include <boost/bind.hpp>
#include <boost/thread/thread.hpp>
#include <boost/thread/condition.hpp>

#include <pcl/point_types.h>
#include <pcl_ros/point_cloud.h>

using namespace std;


namespace people {


struct Box2D3D {
  cv::Point2d center2d;
  cv::Point3d center3d;
  double radius2d;
  double radius3d;
  cv::Rect box2d;
  string status;
  int id;
};


struct Face {
  string id;
  string name; 
};


class Faces
{
 public:

  // Default thresholds for the face detection algorithm.
  static const double FACE_SIZE_MIN_M=0.1; 
  static const double FACE_SIZE_MAX_M=0.5; 
  static const double MAX_FACE_Z_M=8.0; 
  // Default thresholds for face tracking.
  static const double FACE_SEP_DIST_M=1.0; 
  // Thresholds for the face detection algorithm.
  double face_size_min_m_; 
  double face_size_max_m_; 
  double max_face_z_m_; 
  // Thresholds for face tracking.
  double face_sep_dist_m_; 
  // Create an empty list of people.
  Faces();

  // Destroy a list of people.
  ~Faces();


  vector<Box2D3D> detectAllFaces(cv::Mat &image, double threshold, cv::Mat &disparity_image, image_geometry::StereoCameraModel *cam_model, pcl::PointCloud<pcl::PointXYZ>* depth_cloud = 0);

  void initFaceDetection(uint num_cascades, string haar_classifier_filename, double face_size_min_m, double face_size_max_m, double max_face_z_m, double face_sep_dist_m);

 private:

  vector<Face> list_;  
  vector<Box2D3D> faces_; 
  cv::Mat cv_image_gray_;  
  cv::Mat *disparity_image_; 
  pcl::PointCloud<pcl::PointXYZ>* depth_cloud_;  
  image_geometry::StereoCameraModel *cam_model_; 
  boost::mutex face_mutex_, face_done_mutex_, t_mutex_; 
  boost::mutex* face_go_mutex_;
  boost::thread_group threads_;
  boost::condition face_detection_ready_cond_, face_detection_done_cond_; 
  int num_threads_to_wait_for_;
  int images_ready_;

  /* Structures for the face detector. */
  cv::CascadeClassifier cascade_;  
  void faceDetectionThread(uint i);

};

};

#endif

---

cob_people_detection
Author(s): Richard Bormann
autogenerated on Tue Mar 5 11:50:09 2013