Contains a list of faces and functions that can be performed on that list. This includes utility tasks such as set/get data, to more complicated tasks such as detection or tracking. More...

#include <faces.h>

Public Member Functions
vector< Box2D3D >	detectAllFacesDepth (const cv::Mat &image, double threshold, const cv::Mat &depth_image, image_geometry::StereoCameraModel *cam_model)
	Detect all faces in an image and depth image.
vector< Box2D3D >	detectAllFacesDisparity (const cv::Mat &image, double threshold, const cv::Mat &disparity_image, image_geometry::StereoCameraModel *cam_model)
	Detect all faces in an image and disparity image.
	Faces ()
void	initFaceDetectionDepth (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)
	Initialize the face detector with images and depth.
void	initFaceDetectionDisparity (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)
	Initialize the face detector with images and disparities.
	~Faces ()
Public Attributes
double	face_sep_dist_m_
double	face_size_max_m_
double	face_size_min_m_
double	max_face_z_m_
Static Public Attributes
static const double	FACE_SEP_DIST_M = 1.0
static const double	FACE_SIZE_MAX_M = 0.5
static const double	FACE_SIZE_MIN_M = 0.1
static const double	MAX_FACE_Z_M = 8.0
Private Member Functions
void	faceDetectionThreadDepth (uint i)
void	faceDetectionThreadDisparity (uint i)
Private Attributes
image_geometry::StereoCameraModel *	cam_model_
cv::CascadeClassifier	cascade_
cv::Mat	cv_image_gray_
cv::Mat const *	depth_image_
cv::Mat const *	disparity_image_
boost::condition	face_detection_done_cond_
boost::condition	face_detection_ready_cond_
boost::mutex	face_done_mutex_
boost::mutex *	face_go_mutex_
boost::mutex	face_mutex_
vector< Box2D3D >	faces_
int	images_ready_
vector< Face >	list_
int	num_threads_to_wait_for_
boost::mutex	t_mutex_
boost::thread_group	threads_

Detailed Description

Contains a list of faces and functions that can be performed on that list. This includes utility tasks such as set/get data, to more complicated tasks such as detection or tracking.

Definition at line 96 of file faces.h.

Constructor & Destructor Documentation

people::Faces::Faces ( )

Definition at line 47 of file faces.cpp.

people::Faces::~Faces ( )

Definition at line 52 of file faces.cpp.

Member Function Documentation

vector< Box2D3D > people::Faces::detectAllFacesDepth	(	const cv::Mat &	image,
		double	threshold,
		const cv::Mat &	depth_image,
		image_geometry::StereoCameraModel *	cam_model
	)

Detect all faces in an image and depth image.

Input:

Parameters:

image	The image in which to detect faces.
haar_classifier_filename	Path to the xml file containing the trained haar classifier cascade.
threshold	Detection threshold. Currently unused.
depth_image	Image of depth (e.g. from an RGBD camera).
cam_model	The camera model used to convert 2D points to 3D points. Output: A vector of Box2D3Ds containing the bounding boxes around found faces in 2D and 3D.

Definition at line 247 of file faces.cpp.

vector< Box2D3D > people::Faces::detectAllFacesDisparity	(	const cv::Mat &	image,
		double	threshold,
		const cv::Mat &	disparity_image,
		image_geometry::StereoCameraModel *	cam_model
	)

Detect all faces in an image and disparity image.

Input:

Parameters:

image	The image in which to detect faces.
haar_classifier_filename	Path to the xml file containing the trained haar classifier cascade.
threshold	Detection threshold. Currently unused.
disparity_image	Image of disparities (from stereo).
cam_model	The camera model used to convert 2D points to 3D points. Output: A vector of Box2D3Ds containing the bounding boxes around found faces in 2D and 3D.

Definition at line 95 of file faces.cpp.

void people::Faces::faceDetectionThreadDepth ( uint i ) [private]

Definition at line 287 of file faces.cpp.

void people::Faces::faceDetectionThreadDisparity ( uint i ) [private]

Definition at line 135 of file faces.cpp.

void people::Faces::initFaceDetectionDepth	(	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
	)

Initialize the face detector with images and depth.

Initialize the face detector, including loading in the classifier cascade. Input:

Parameters:

num_cascades	Should always be 1 (may change in the future.)
haar_classifier_filename	Full path to the cascade file.

Definition at line 225 of file faces.cpp.

void people::Faces::initFaceDetectionDisparity	(	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
	)