#include <face_detection.h>

Inheritance diagram for ipa_PeopleDetector::CobFaceDetectionNodelet:

Public Member Functions
unsigned long	addFace (cv::Mat &image, std::string id)
	CobFaceDetectionNodelet ()
unsigned long	convertColorImageMessageToMat (const sensor_msgs::Image::ConstPtr &color_image_msg, cv_bridge::CvImageConstPtr &color_image_ptr, cv::Mat &color_image)
unsigned long	convertPclMessageToMat (const sensor_msgs::PointCloud2::ConstPtr &shared_image_msg, cv::Mat &depth_image)
unsigned long	detectFaces (cv::Mat &xyz_image, cv::Mat &color_image)
unsigned long	getEigenface (cv::Mat &eigenface, int index)
std::string	getLabel (int index)
	returns the ID string corresponding to index index
unsigned long	init ()
unsigned long	loadAllData ()
unsigned long	loadParameters (const char *iniFileName)
unsigned long	loadRecognizerData ()
void	loadServerCallback (const cob_people_detection::LoadGoalConstPtr &goal)
unsigned long	loadTrainingData (bool runPCA)
void	onInit ()
	Nodelet init function.
unsigned long	PCA ()
void	recognizeCallback (const sensor_msgs::PointCloud2::ConstPtr &shared_image_msg, const sensor_msgs::Image::ConstPtr &color_image_msg)
	Topic callback managing the treatment of incoming data.
unsigned long	recognizeFace (cv::Mat &color_image, std::vector< int > &index)
void	recognizeServerCallback (const cob_people_detection::RecognizeGoalConstPtr &goal)
	Action server callback which manages the execution of the recognition functionality.
bool	recognizeServiceServerCallback (cob_people_detection::Recognition::Request &req, cob_people_detection::Recognition::Response &res)
unsigned long	saveAllData ()
unsigned long	saveRangeTrainImages (cv::Mat &xyz_image)
unsigned long	saveRecognizerData ()
void	saveServerCallback (const cob_people_detection::SaveGoalConstPtr &goal)
unsigned long	saveTrainingData ()
unsigned long	showAVGImage (cv::Mat &avgImage)
void	showServerCallback (const cob_people_detection::ShowGoalConstPtr &goal)
void	trainCaptureSampleServerCallback (const cob_people_detection::TrainCaptureSampleGoalConstPtr &goal)
void	trainContinuousCallback (const sensor_msgs::PointCloud2::ConstPtr &shared_image_msg, const sensor_msgs::Image::ConstPtr &color_image_msg)
void	trainContinuousServerCallback (const cob_people_detection::TrainContinuousGoalConstPtr &goal)
	~CobFaceDetectionNodelet ()
Protected Attributes
boost::timed_mutex	action_mutex_
	secures write and read operations to varibales occupied_by_action_, etc.
cv::Mat	avg_image_
	Trained average Image.
bool	capture_training_face_
	can be set true by an action while in training mode. then an image is captured.
image_transport::SubscriberFilter	color_camera_image_sub_
	Color camera image topic.
std::vector< cv::Rect >	color_faces_
	Vector with detected faces.
ipa_SensorFusion::ColoredPointCloudPtr	colored_pc_
	Storage for acquired colored point cloud.
std::string	current_training_id_
	the ID of the current person who is trained
std::string	directory_
	directory for the data files
bool	display_
	enables debug output
bool	do_recognition_
	does people identification if true, else it's just people detection
cv::Mat	eigen_val_mat_
	Eigenvalues.
std::vector< cv::Mat >	eigen_vectors_
	Eigenvectors (spanning the face space)
cv::Mat	face_class_avg_projections_
	The average factors of the eigenvector decomposition from each face class.
image_transport::Publisher	face_detection_image_pub_
	topic for publishing the image containing the faces
std::vector< cv::Mat >	face_images_
	Trained face images.
ros::Publisher	face_position_publisher_
	publisher for the positions of the detected faces
double	face_size_max_m_
	in meters
double	face_size_min_m_
	in meters
int	filename_
	increasing number for files to save
bool	fill_unassigned_depth_values_
	fills the unassigned depth values in the depth image, must be true for a kinect sensor
std::vector< std::string >	id_
	Id of learned faces.
std::vector< std::string >	id_unique_
	A vector containing all different Ids from the training session exactly once (id_unique_[i] stores the corresponding id to the average face coordinates in the face subspace in face_class_avg_projections_.row(i))
image_transport::ImageTransport *	it_
LoadServer *	load_server_
double	max_face_z_m_
	in meters
int	n_eigens_
	Number of eigenvalues.
ros::NodeHandle	node_handle_
	ROS node handle.
int	number_training_images_captured_
	if the training is in continuous mode, this variable counts how many training images already have been collected for the current training job
bool	occupied_by_action_
	must be set true as long as an action callback is running or while the continuous recognition or training mode is running
PeopleDetector *	people_detector_
	People detector core code.
cv::SVM	person_classifier_
	classifier for the identity of a person
cv::Mat	projected_train_face_mat_
	Projected training faces (coefficients for the eigenvectors of the face subspace)
std::set< size_t >	range_face_indices_with_color_face_detection_
	this set stores which range faces also had a face detection in the color image
std::vector< cv::Rect >	range_faces_
	Vector with detected rangeFaces.
bool	reason_about_3dface_size_
	if true, the 3d face size is determined and only faces with reasonable size are accepted
RecognizeServer *	recognize_server_
bool	recognize_server_running_
	is true while the recognition module is running
ros::ServiceServer	recognize_service_server_
	Service server to switch recognition on or off.
bool	run_pca_
	has to run a PCA when the data was modified
SaveServer *	save_server_
message_filters::Subscriber < sensor_msgs::PointCloud2 >	shared_image_sub_
	Shared xyz image and color image topic.
ShowServer *	show_server_
message_filters::Synchronizer < message_filters::sync_policies::ApproximateTime < sensor_msgs::PointCloud2, sensor_msgs::Image > > *	sync_pointcloud_
message_filters::Connection	sync_pointcloud_callback_connection_
int	threshold_
	Threshold to detect unknown faces.
int	threshold_fs_
	Threshold to facespace.
TrainCaptureSampleServer *	train_capture_sample_server_
TrainContinuousServer *	train_continuous_server_
bool	train_continuous_server_running_
	is true while the continuous training display is running
Static Protected Attributes
static const double	FACE_SIZE_MAX_M = 0.35
static const double	FACE_SIZE_MIN_M = 0.12
static const double	MAX_FACE_Z_M = 8.0

Detailed Description

Definition at line 143 of file face_detection.h.

Constructor & Destructor Documentation

CobFaceDetectionNodelet::CobFaceDetectionNodelet ( )

Definition at line 80 of file face_detection.cpp.

CobFaceDetectionNodelet::~CobFaceDetectionNodelet ( )

Definition at line 100 of file face_detection.cpp.

Member Function Documentation

unsigned long CobFaceDetectionNodelet::addFace	(	cv::Mat &	image,
		std::string	id
	)

Function to add a new face

Parameters:

image	Color image
id	Id of the new face

Returns:: Return code

Definition at line 698 of file face_detection.cpp.

unsigned long CobFaceDetectionNodelet::convertColorImageMessageToMat	(	const sensor_msgs::Image::ConstPtr &	color_image_msg,
		cv_bridge::CvImageConstPtr &	color_image_ptr,
		cv::Mat &	color_image
	)

Definition at line 1152 of file face_detection.cpp.

unsigned long CobFaceDetectionNodelet::convertPclMessageToMat	(	const sensor_msgs::PointCloud2::ConstPtr &	shared_image_msg,
		cv::Mat &	depth_image
	)

Definition at line 1168 of file face_detection.cpp.

unsigned long CobFaceDetectionNodelet::detectFaces	(	cv::Mat &	xyz_image,
		cv::Mat &	color_image
	)

Function to detect and verify faces

Parameters:

xyz_image	Coordinate image with x,y,z coordinates in meters
color_image	Color image

Returns:: Return code

Definition at line 557 of file face_detection.cpp.

unsigned long CobFaceDetectionNodelet::getEigenface	(	cv::Mat &	eigenface,
		int	index
	)

Function to show the eigenfaces. Only for debugging and development

Parameters:

eigenface	Eigenface
index	Index of the eigenface

Returns:: Return code.

Definition at line 1048 of file face_detection.cpp.

std::string CobFaceDetectionNodelet::getLabel ( int index ) [inline]

returns the ID string corresponding to index index

Definition at line 1191 of file face_detection.cpp.

unsigned long CobFaceDetectionNodelet::init ( void )

Initialization function

Returns:: Return code

Definition at line 173 of file face_detection.cpp.

unsigned long CobFaceDetectionNodelet::loadAllData ( )

Loads the training data as well as the recognizer data.

Returns:: Return code.

Definition at line 895 of file face_detection.cpp.

unsigned long CobFaceDetectionNodelet::loadParameters ( const char * iniFileName )

Load parameters from file

Definition at line 1551 of file face_detection.cpp.

unsigned long CobFaceDetectionNodelet::loadRecognizerData ( )

Function to load the recognizer data (eigenvectors, -values, average image, etc.)

Returns:: Return code.

Definition at line 968 of file face_detection.cpp.

void CobFaceDetectionNodelet::loadServerCallback ( const cob_people_detection::LoadGoalConstPtr & goal )

Definition at line 451 of file face_detection.cpp.

unsigned long CobFaceDetectionNodelet::loadTrainingData ( bool runPCA )

Function to load the training data (images, ids)

Parameters:

runPCA Do a PCA after loading the files. Necessary if the eigenvector matrices etc. are not loaded as well.

Returns:: Return code.

Definition at line 905 of file face_detection.cpp.

void CobFaceDetectionNodelet::onInit ( ) [virtual]

Nodelet init function.

Implements nodelet::Nodelet.

Definition at line 122 of file face_detection.cpp.

unsigned long CobFaceDetectionNodelet::PCA ( )

Function to Run the PCA algorithm and project the training images to the PCA subspace

Returns:: Return code

Definition at line 712 of file face_detection.cpp.

void CobFaceDetectionNodelet::recognizeCallback	(	const sensor_msgs::PointCloud2::ConstPtr &	shared_image_msg,
		const sensor_msgs::Image::ConstPtr &	color_image_msg
	)

Topic callback managing the treatment of incoming data.

Definition at line 1214 of file face_detection.cpp.

unsigned long CobFaceDetectionNodelet::recognizeFace	(	cv::Mat &	color_image,
		std::vector< int > &	index
	)

Function to Recognize faces The function recognize the faces

Parameters:

color_image	Color image
index	Index of classified facespace in vector

Returns:: Return code

Definition at line 685 of file face_detection.cpp.

void CobFaceDetectionNodelet::recognizeServerCallback ( const cob_people_detection::RecognizeGoalConstPtr & goal )

Action server callback which manages the execution of the recognition functionality.

Definition at line 283 of file face_detection.cpp.

bool CobFaceDetectionNodelet::recognizeServiceServerCallback	(	cob_people_detection::Recognition::Request &	req,
		cob_people_detection::Recognition::Response &	res
	)

Definition at line 244 of file face_detection.cpp.

unsigned long CobFaceDetectionNodelet::saveAllData ( )

Definition at line 769 of file face_detection.cpp.

unsigned long CobFaceDetectionNodelet::saveRangeTrainImages ( cv::Mat & xyz_image )

Function to extract images for training range classifier

Parameters:

pc	ColoredPointCloud with images

Returns:: Return code.

Definition at line 1069 of file face_detection.cpp.

unsigned long CobFaceDetectionNodelet::saveRecognizerData ( )

Definition at line 836 of file face_detection.cpp.

void CobFaceDetectionNodelet::saveServerCallback ( const cob_people_detection::SaveGoalConstPtr & goal )

Definition at line 479 of file face_detection.cpp.

unsigned long CobFaceDetectionNodelet::saveTrainingData ( )

Function to save the training data

Returns:: Return code.

Definition at line 790 of file face_detection.cpp.

unsigned long CobFaceDetectionNodelet::showAVGImage ( cv::Mat & avgImage )

Function to show the average image of all trained images

Parameters:

avgImage The average image

Returns:: Return code.

Definition at line 1055 of file face_detection.cpp.

void CobFaceDetectionNodelet::showServerCallback ( const cob_people_detection::ShowGoalConstPtr & goal )

Definition at line 507 of file face_detection.cpp.

void CobFaceDetectionNodelet::trainCaptureSampleServerCallback ( const cob_people_detection::TrainCaptureSampleGoalConstPtr & goal )

Definition at line 429 of file face_detection.cpp.

void CobFaceDetectionNodelet::trainContinuousCallback	(	const sensor_msgs::PointCloud2::ConstPtr &	shared_image_msg,
		const sensor_msgs::Image::ConstPtr &	color_image_msg
	)

Definition at line 1469 of file face_detection.cpp.

void CobFaceDetectionNodelet::trainContinuousServerCallback ( const cob_people_detection::TrainContinuousGoalConstPtr & goal )

Definition at line 324 of file face_detection.cpp.

Member Data Documentation

boost::timed_mutex ipa_PeopleDetector::CobFaceDetectionNodelet::action_mutex_ [protected]

secures write and read operations to varibales occupied_by_action_, etc.

Definition at line 206 of file face_detection.h.

cv::Mat ipa_PeopleDetector::CobFaceDetectionNodelet::avg_image_ [protected]

Trained average Image.

Definition at line 174 of file face_detection.h.

bool ipa_PeopleDetector::CobFaceDetectionNodelet::capture_training_face_ [protected]

can be set true by an action while in training mode. then an image is captured.

Definition at line 199 of file face_detection.h.

image_transport::SubscriberFilter ipa_PeopleDetector::CobFaceDetectionNodelet::color_camera_image_sub_ [protected]

Color camera image topic.

Definition at line 148 of file face_detection.h.

std::vector<cv::Rect> ipa_PeopleDetector::CobFaceDetectionNodelet::color_faces_ [protected]

Vector with detected faces.

Definition at line 182 of file face_detection.h.

ipa_SensorFusion::ColoredPointCloudPtr ipa_PeopleDetector::CobFaceDetectionNodelet::colored_pc_ [protected]

Storage for acquired colored point cloud.

Definition at line 160 of file face_detection.h.

std::string ipa_PeopleDetector::CobFaceDetectionNodelet::current_training_id_ [protected]

the ID of the current person who is trained

Definition at line 205 of file face_detection.h.

std::string ipa_PeopleDetector::CobFaceDetectionNodelet::directory_ [protected]

directory for the data files

Definition at line 163 of file face_detection.h.

bool ipa_PeopleDetector::CobFaceDetectionNodelet::display_ [protected]

enables debug output

Definition at line 203 of file face_detection.h.

bool ipa_PeopleDetector::CobFaceDetectionNodelet::do_recognition_ [protected]

does people identification if true, else it's just people detection

Definition at line 202 of file face_detection.h.

cv::Mat ipa_PeopleDetector::CobFaceDetectionNodelet::eigen_val_mat_ [protected]

Eigenvalues.

Definition at line 173 of file face_detection.h.

std::vector<cv::Mat> ipa_PeopleDetector::CobFaceDetectionNodelet::eigen_vectors_ [protected]

Eigenvectors (spanning the face space)

Definition at line 172 of file face_detection.h.

cv::Mat ipa_PeopleDetector::CobFaceDetectionNodelet::face_class_avg_projections_ [protected]

The average factors of the eigenvector decomposition from each face class.

Definition at line 176 of file face_detection.h.

image_transport::Publisher ipa_PeopleDetector::CobFaceDetectionNodelet::face_detection_image_pub_ [protected]

topic for publishing the image containing the faces

Definition at line 149 of file face_detection.h.

std::vector<cv::Mat> ipa_PeopleDetector::CobFaceDetectionNodelet::face_images_ [protected]

Trained face images.

Definition at line 167 of file face_detection.h.

ros::Publisher ipa_PeopleDetector::CobFaceDetectionNodelet::face_position_publisher_ [protected]

publisher for the positions of the detected faces

Definition at line 152 of file face_detection.h.

const double ipa_PeopleDetector::CobFaceDetectionNodelet::FACE_SIZE_MAX_M = 0.35 [static, protected]

Definition at line 210 of file face_detection.h.

double ipa_PeopleDetector::CobFaceDetectionNodelet::face_size_max_m_ [protected]

in meters

Definition at line 215 of file face_detection.h.

const double ipa_PeopleDetector::CobFaceDetectionNodelet::FACE_SIZE_MIN_M = 0.12 [static, protected]

Definition at line 209 of file face_detection.h.

double ipa_PeopleDetector::CobFaceDetectionNodelet::face_size_min_m_ [protected]

in meters

Definition at line 214 of file face_detection.h.

int ipa_PeopleDetector::CobFaceDetectionNodelet::filename_ [protected]

increasing number for files to save

Definition at line 165 of file face_detection.h.

bool ipa_PeopleDetector::CobFaceDetectionNodelet::fill_unassigned_depth_values_ [protected]

fills the unassigned depth values in the depth image, must be true for a kinect sensor

Definition at line 217 of file face_detection.h.

std::vector<std::string> ipa_PeopleDetector::CobFaceDetectionNodelet::id_ [protected]

Id of learned faces.

Definition at line 168 of file face_detection.h.

std::vector<std::string> ipa_PeopleDetector::CobFaceDetectionNodelet::id_unique_ [protected]

A vector containing all different Ids from the training session exactly once (id_unique_[i] stores the corresponding id to the average face coordinates in the face subspace in face_class_avg_projections_.row(i))

Definition at line 169 of file face_detection.h.

image_transport::ImageTransport* ipa_PeopleDetector::CobFaceDetectionNodelet::it_ [protected]

Definition at line 147 of file face_detection.h.

LoadServer* ipa_PeopleDetector::CobFaceDetectionNodelet::load_server_ [protected]

Definition at line 193 of file face_detection.h.

const double ipa_PeopleDetector::CobFaceDetectionNodelet::MAX_FACE_Z_M = 8.0 [static, protected]

Definition at line 211 of file face_detection.h.

double ipa_PeopleDetector::CobFaceDetectionNodelet::max_face_z_m_ [protected]

in meters

Definition at line 216 of file face_detection.h.

int ipa_PeopleDetector::CobFaceDetectionNodelet::n_eigens_ [protected]

Number of eigenvalues.