faces.h

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/*********************************************************************
* Face-specific computer vision algorithms.
*
**********************************************************************
*
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/* Author: Caroline Pantofaru */

#ifndef FACES_H
#define FACES_H



#include <stdio.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 <ros/console.h>
#include <boost/thread/mutex.hpp>
#include <boost/bind.hpp>
#include <boost/thread/thread.hpp>
#include <boost/thread/condition.hpp>


using namespace std;


namespace people {


struct Box2D3D {
  cv::Point2d center2d;
  cv::Point3d center3d;
  double width2d;
  double width3d;
  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> detectAllFacesDisparity(const cv::Mat &image, double threshold, const cv::Mat &disparity_image, image_geometry::StereoCameraModel *cam_model);

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

  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);


  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);

 private:

  vector<Face> list_;  
  vector<Box2D3D> faces_; 
  cv::Mat cv_image_gray_;  
  cv::Mat const* disparity_image_; 
  cv::Mat const* depth_image_; 
  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 faceDetectionThreadDisparity(uint i);
  void faceDetectionThreadDepth(uint i);

};

};

#endif