Classes
struct	NullDeleter
struct	RestampedPositionMeasurement
Public Types
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo >	ApproximateDepthPolicy
typedef message_filters::Synchronizer < ApproximateDepthPolicy >	ApproximateDepthSync
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, stereo_msgs::DisparityImage, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo >	ApproximateDispPolicy
typedef message_filters::Synchronizer < ApproximateDispPolicy >	ApproximateDispSync
typedef message_filters::sync_policies::ExactTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo >	ExactDepthPolicy
typedef message_filters::Synchronizer < ExactDepthPolicy >	ExactDepthSync
typedef message_filters::sync_policies::ExactTime < sensor_msgs::Image, stereo_msgs::DisparityImage, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo >	ExactDispPolicy
typedef message_filters::Synchronizer < ExactDispPolicy >	ExactDispSync
Public Member Functions
	FaceDetector (std::string name)
void	goalCB ()
void	imageCBAllDepth (const sensor_msgs::Image::ConstPtr &image, const sensor_msgs::Image::ConstPtr &depth_image, const sensor_msgs::CameraInfo::ConstPtr &c1_info, const sensor_msgs::CameraInfo::ConstPtr &c2_info)
	Image callback for synced messages.
void	imageCBAllDisp (const sensor_msgs::Image::ConstPtr &image, const stereo_msgs::DisparityImage::ConstPtr &disp_image, const sensor_msgs::CameraInfo::ConstPtr &c1_info, const sensor_msgs::CameraInfo::ConstPtr &c2_info)
	Image callback for synced messages.
void	posCallback (const people_msgs::PositionMeasurementConstPtr &pos_ptr)
	Position message callback.
void	preemptCB ()
	~FaceDetector ()
Public Attributes
boost::shared_ptr < ApproximateDepthSync >	approximate_depth_sync_
boost::shared_ptr < ApproximateDispSync >	approximate_disp_sync_
actionlib::SimpleActionServer < face_detector::FaceDetectorAction >	as_
const double	BIGDIST_M
message_filters::Subscriber < sensor_msgs::CameraInfo >	c1_info_sub_
message_filters::Subscriber < sensor_msgs::CameraInfo >	c2_info_sub_
image_geometry::StereoCameraModel	cam_model_
ros::Publisher	cloud_pub_
cv::Mat	cv_image_out_
boost::mutex	cv_mutex_
image_transport::SubscriberFilter	depth_image_sub_
boost::mutex	dimage_mutex_
message_filters::Subscriber < stereo_msgs::DisparityImage >	disp_image_sub_
bool	do_continuous_
bool	do_display_
bool	do_publish_unknown_
boost::shared_ptr< ExactDepthSync >	exact_depth_sync_
boost::shared_ptr< ExactDispSync >	exact_disp_sync_
bool	external_init_
Faces *	faces_
face_detector::FaceDetectorFeedback	feedback_
string	haar_filename_
image_transport::SubscriberFilter	image_sub_
image_transport::ImageTransport	it_
boost::mutex	limage_mutex_
string	name_
ros::NodeHandle	nh_
map< string, RestampedPositionMeasurement >	pos_list_
boost::mutex	pos_mutex_
ros::Publisher	pos_pub_
ros::Subscriber	pos_sub_
bool	quit_
double	reliability_
face_detector::FaceDetectorResult	result_
tf::TransformListener	tf_
bool	use_depth_
Private Member Functions
void	displayFacesOnImage (vector< Box2D3D > faces_vector)
void	matchAndDisplay (vector< Box2D3D > faces_vector, std_msgs::Header header)

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 82 of file face_detection.cpp.

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> people::FaceDetector::ApproximateDepthPolicy

Sync policy for approx time with depth.

Definition at line 108 of file face_detection.cpp.

typedef message_filters::Synchronizer<ApproximateDepthPolicy> people::FaceDetector::ApproximateDepthSync

Definition at line 110 of file face_detection.cpp.

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, stereo_msgs::DisparityImage, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> people::FaceDetector::ApproximateDispPolicy

Sync policy for approx time with disparity.

Definition at line 100 of file face_detection.cpp.

typedef message_filters::Synchronizer<ApproximateDispPolicy> people::FaceDetector::ApproximateDispSync

Definition at line 102 of file face_detection.cpp.

typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> people::FaceDetector::ExactDepthPolicy

Sync policy for exact time with depth.

Definition at line 107 of file face_detection.cpp.

typedef message_filters::Synchronizer<ExactDepthPolicy> people::FaceDetector::ExactDepthSync

Definition at line 109 of file face_detection.cpp.

typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, stereo_msgs::DisparityImage, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> people::FaceDetector::ExactDispPolicy

Sync policy for exact time with disparity.

Definition at line 99 of file face_detection.cpp.

typedef message_filters::Synchronizer<ExactDispPolicy> people::FaceDetector::ExactDispSync

Definition at line 101 of file face_detection.cpp.

Constructor & Destructor Documentation

people::FaceDetector::FaceDetector ( std::string name ) [inline]

Definition at line 163 of file face_detection.cpp.

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

Definition at line 284 of file face_detection.cpp.

Member Function Documentation

void people::FaceDetector::displayFacesOnImage ( vector< Box2D3D > faces_vector ) [inline, private]

Definition at line 579 of file face_detection.cpp.

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

Definition at line 296 of file face_detection.cpp.

void people::FaceDetector::imageCBAllDepth	(	const sensor_msgs::Image::ConstPtr &	image,
		const sensor_msgs::Image::ConstPtr &	depth_image,
		const sensor_msgs::CameraInfo::ConstPtr &	c1_info,
		const sensor_msgs::CameraInfo::ConstPtr &	c2_info
	)		`[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 345 of file face_detection.cpp.

void people::FaceDetector::imageCBAllDisp	(	const sensor_msgs::Image::ConstPtr &	image,
		const stereo_msgs::DisparityImage::ConstPtr &	disp_image,
		const sensor_msgs::CameraInfo::ConstPtr &	c1_info,
		const sensor_msgs::CameraInfo::ConstPtr &	c2_info
	)		`[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 390 of file face_detection.cpp.

void people::FaceDetector::matchAndDisplay	(	vector< Box2D3D >	faces_vector,
		std_msgs::Header	header
	)		`[inline, private]`

Definition at line 431 of file face_detection.cpp.

void people::FaceDetector::posCallback ( const people_msgs::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 311 of file face_detection.cpp.

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

Definition at line 300 of file face_detection.cpp.