face_tracker::PatchTracker Class Reference

Inheritance diagram for face_tracker::PatchTracker:

[legend]

List of all members.

Public Member Functions
def	__init__
def	add_features
def	detect_face
def	distance_to_cluster
def	get_cluster_centroid
def	key_command_callback
def	process_image
def	prune_features
def	set_roi_callback
def	track_lk
Public Attributes
	abs_min_features
	add_feature_distance
	auto_face_tracking
	auto_min_features
	block_size
	camera_frame_id
	cascade_frontal_alt
	cascade_frontal_alt2
	cascade_profile
	cog_x
	cog_y
	cog_z
	detect_box
	expand_roi
	expand_roi_init
	feature_matrix
	feature_type
	features
	flags
	flip_image
	fov_height
	fov_width
	frame_count
	good_feature_distance
	grey
	haar_flags
	haar_scale
	image_scale
	key_command
	keypoints
	max_count
	max_face_size
	max_mse
	min_features
	min_neighbors
	min_size
	night_mode
	node_name
	pct_err_z
	prev_grey
	prev_pyramid
	pyramid
	quality
	ROI
	small_image
	std_err_xy
	surf_hessian_quality
	track_box
	use_depth_for_detection
	use_depth_for_tracking
	use_haar_only
	use_harris
	win_size

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Detailed Description

Definition at line 39 of file face_tracker.py.

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Member Function Documentation

def face_tracker::PatchTracker::__init__	(		self,
			node_name
	)

Definition at line 40 of file face_tracker.py.

def face_tracker::PatchTracker::add_features	(		self,
			cv_image
	)

Look for any new features around the current feature cloud 

Create the ROI mask

Definition at line 398 of file face_tracker.py.

def face_tracker::PatchTracker::detect_face	(		self,
			cv_image
	)

Definition at line 162 of file face_tracker.py.

def face_tracker::PatchTracker::distance_to_cluster	(		self,
			test_point,
			cluster
	)

Definition at line 451 of file face_tracker.py.

def face_tracker::PatchTracker::get_cluster_centroid

(

self

)

compute the 3D centroid (COG) of the current cluster 

Definition at line 462 of file face_tracker.py.

def face_tracker::PatchTracker::key_command_callback	(		self,
			req
	)

Definition at line 617 of file face_tracker.py.

def face_tracker::PatchTracker::process_image	(		self,
			cv_image
	)

If parameter use_haar_only is True, use only the OpenCV Haar detector to track the face 

Definition at line 123 of file face_tracker.py.

def face_tracker::PatchTracker::prune_features	(		self,
			min_features,
			outlier_threshold,
			mse_threshold
	)

Definition at line 505 of file face_tracker.py.

def face_tracker::PatchTracker::set_roi_callback	(		self,
			req
	)

Definition at line 621 of file face_tracker.py.

def face_tracker::PatchTracker::track_lk	(		self,
			cv_image
	)

Definition at line 250 of file face_tracker.py.

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Member Data Documentation

face_tracker::PatchTracker::abs_min_features

Definition at line 54 of file face_tracker.py.

face_tracker::PatchTracker::add_feature_distance

Definition at line 59 of file face_tracker.py.

face_tracker::PatchTracker::auto_face_tracking

Reimplemented from ros2opencv::ROS2OpenCV.

Definition at line 45 of file face_tracker.py.

face_tracker::PatchTracker::auto_min_features

Definition at line 52 of file face_tracker.py.

face_tracker::PatchTracker::block_size

Definition at line 101 of file face_tracker.py.

face_tracker::PatchTracker::camera_frame_id

Definition at line 65 of file face_tracker.py.

face_tracker::PatchTracker::cascade_frontal_alt

Definition at line 79 of file face_tracker.py.

face_tracker::PatchTracker::cascade_frontal_alt2

Definition at line 80 of file face_tracker.py.

face_tracker::PatchTracker::cascade_profile

Definition at line 81 of file face_tracker.py.

face_tracker::PatchTracker::cog_x

Definition at line 67 of file face_tracker.py.

face_tracker::PatchTracker::cog_y

Definition at line 67 of file face_tracker.py.

face_tracker::PatchTracker::cog_z

Definition at line 68 of file face_tracker.py.

face_tracker::PatchTracker::detect_box

Reimplemented from ros2opencv::ROS2OpenCV.

Definition at line 70 of file face_tracker.py.

face_tracker::PatchTracker::expand_roi

Definition at line 63 of file face_tracker.py.

face_tracker::PatchTracker::expand_roi_init

Definition at line 62 of file face_tracker.py.

face_tracker::PatchTracker::feature_matrix

Definition at line 346 of file face_tracker.py.

face_tracker::PatchTracker::feature_type

Definition at line 61 of file face_tracker.py.

face_tracker::PatchTracker::features

Reimplemented from ros2opencv::ROS2OpenCV.

Definition at line 72 of file face_tracker.py.

face_tracker::PatchTracker::flags

Definition at line 103 of file face_tracker.py.

face_tracker::PatchTracker::flip_image

Reimplemented from ros2opencv::ROS2OpenCV.

Definition at line 60 of file face_tracker.py.

face_tracker::PatchTracker::fov_height

Definition at line 49 of file face_tracker.py.

face_tracker::PatchTracker::fov_width

Definition at line 48 of file face_tracker.py.

face_tracker::PatchTracker::frame_count

Definition at line 105 of file face_tracker.py.

face_tracker::PatchTracker::good_feature_distance

Definition at line 58 of file face_tracker.py.

face_tracker::PatchTracker::grey

Reimplemented from ros2opencv::ROS2OpenCV.

Definition at line 74 of file face_tracker.py.

face_tracker::PatchTracker::haar_flags

Definition at line 91 of file face_tracker.py.

face_tracker::PatchTracker::haar_scale

Definition at line 89 of file face_tracker.py.

face_tracker::PatchTracker::image_scale

Definition at line 88 of file face_tracker.py.

face_tracker::PatchTracker::key_command

Reimplemented from ros2opencv::ROS2OpenCV.

Definition at line 111 of file face_tracker.py.

face_tracker::PatchTracker::keypoints

Definition at line 622 of file face_tracker.py.

face_tracker::PatchTracker::max_count

Definition at line 100 of file face_tracker.py.

face_tracker::PatchTracker::max_face_size

Definition at line 50 of file face_tracker.py.

face_tracker::PatchTracker::max_mse

Definition at line 57 of file face_tracker.py.

face_tracker::PatchTracker::min_features

Definition at line 53 of file face_tracker.py.

face_tracker::PatchTracker::min_neighbors

Definition at line 90 of file face_tracker.py.

face_tracker::PatchTracker::min_size

Definition at line 87 of file face_tracker.py.

face_tracker::PatchTracker::night_mode

Reimplemented from ros2opencv::ROS2OpenCV.

Definition at line 97 of file face_tracker.py.

face_tracker::PatchTracker::node_name

Reimplemented from ros2opencv::ROS2OpenCV.

Definition at line 43 of file face_tracker.py.

face_tracker::PatchTracker::pct_err_z

Definition at line 56 of file face_tracker.py.

face_tracker::PatchTracker::prev_grey

Definition at line 256 of file face_tracker.py.

face_tracker::PatchTracker::prev_pyramid

Definition at line 258 of file face_tracker.py.

face_tracker::PatchTracker::pyramid

Definition at line 75 of file face_tracker.py.

face_tracker::PatchTracker::quality

Definition at line 98 of file face_tracker.py.

face_tracker::PatchTracker::ROI

Reimplemented from ros2opencv::ROS2OpenCV.

Definition at line 375 of file face_tracker.py.

face_tracker::PatchTracker::small_image

Definition at line 76 of file face_tracker.py.

face_tracker::PatchTracker::std_err_xy

Definition at line 55 of file face_tracker.py.

face_tracker::PatchTracker::surf_hessian_quality

Definition at line 108 of file face_tracker.py.

face_tracker::PatchTracker::track_box

Reimplemented from ros2opencv::ROS2OpenCV.

Definition at line 71 of file face_tracker.py.

face_tracker::PatchTracker::use_depth_for_detection

Definition at line 47 of file face_tracker.py.

face_tracker::PatchTracker::use_depth_for_tracking

Definition at line 51 of file face_tracker.py.

face_tracker::PatchTracker::use_haar_only

Definition at line 46 of file face_tracker.py.

face_tracker::PatchTracker::use_harris

Definition at line 102 of file face_tracker.py.

face_tracker::PatchTracker::win_size

Definition at line 99 of file face_tracker.py.

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The documentation for this class was generated from the following file:

• face_tracker.py