#include <face_recognizer.h>

Inheritance diagram for ipa_PeopleDetector::FaceRecognizer:

Public Types
enum	Metrics { EUCLIDEAN, MAHALANOBIS, MAHALANOBISCOSINE }
Public Member Functions
virtual unsigned long	addFace (cv::Mat &color_image, cv::Mat &depth_image, cv::Rect &face_bounding_box, cv::Rect &head_bounding_box, std::string label, std::vector< cv::Mat > &face_images, std::vector< cv::Mat > &face_depthmaps)
virtual unsigned long	deleteFace (int index, std::vector< cv::Mat > &face_images, std::vector< cv::Mat > &face_depthmaps)
virtual unsigned long	deleteFaces (std::string label, std::vector< cv::Mat > &face_images, std::vector< cv::Mat > &face_depthmaps)
	FaceRecognizer (void)
	Constructor.
virtual unsigned long	init (std::string data_directory, int norm_size, bool norm_illumination, bool norm_align, bool norm_extreme_illumination, int metric, bool debug, std::vector< std::string > &identification_labels_to_recognize, int subs_meth, int feature_dim, bool use_unknown_thresh, bool use_depth)
virtual unsigned long	initTraining (std::string data_directory, int norm_size, bool norm_illumination, bool norm_align, bool norm_extreme_illumination, bool debug, std::vector< cv::Mat > &face_images, std::vector< cv::Mat > &face_depthmaps, bool use_depth)
virtual unsigned long	loadRecognitionModel (std::vector< std::string > &identification_labels_to_recognize)
virtual unsigned long	saveRecognitionModel ()
virtual unsigned long	saveTrainingData (std::vector< cv::Mat > &face_images, std::vector< cv::Mat > &face_depthmaps)
virtual unsigned long	saveTrainingData (std::vector< cv::Mat > &face_images)
virtual unsigned long	trainRecognitionModel (std::vector< std::string > &identification_labels_to_train)
virtual unsigned long	updateFaceLabel (int index, std::string new_label)
virtual unsigned long	updateFaceLabels (std::string old_label, std::string new_label)
	~FaceRecognizer (void)
	Destructor.
Protected Member Functions
void	assertDirectories (boost::filesystem::path &data_directory)
virtual unsigned long	convertAndResize (cv::Mat &img, cv::Mat &resized, cv::Rect &face, cv::Size new_size)
virtual unsigned long	loadTrainingData (std::vector< cv::Mat > &face_images, std::vector< std::string > &identification_labels_to_train)
virtual unsigned long	loadTrainingData (std::vector< cv::Mat > &face_images, std::vector< cv::Mat > &face_depthmaps, std::vector< std::string > &identification_labels_to_train)
virtual unsigned long	recognizeFace (cv::Mat &color_image, std::vector< cv::Rect > &face_coordinates, std::vector< std::string > &identification_labels)
virtual unsigned long	recognizeFace (cv::Mat &color_image, cv::Mat &depth_image, std::vector< cv::Rect > &face_coordinates, std::vector< std::string > &identification_labels)
unsigned long	trainFaceRecognition (ipa_PeopleDetector::FaceRecognizerBaseClass *eff, std::vector< cv::Mat > &data, std::vector< int > &labels)
Protected Attributes
std::vector< int >	depth_num_labels
	Number of classes for depth training data.
std::vector< std::string >	depth_str_labels
	Vector for class label strings for depth training data.
std::vector< std::string >	depth_str_labels_unique
	Vector for class unique label strings for depth training data.
std::vector< bool >	dm_exist
	vector indicating if depth map exists for corresponding color image
ipa_PeopleDetector::FaceRecognizerBaseClass *	eff_color
	FaceRecognizer for color images.
ipa_PeopleDetector::FaceRecognizerBaseClass *	eff_depth
	FaceRecognizer for depth maps.
FaceNormalizer	face_normalizer_
	Face normalizer object.
cv::Mat	m_average_image
	Trained average Image.
std::vector< std::string >	m_current_label_set
	A vector containing all different labels from the training session exactly once, order of appearance matters! (m_current_label_set[i] stores the corresponding name to the average face coordinates in the face subspace in m_face_class_average_projections.rows(i))
boost::filesystem::path	m_data_directory
	folder that contains the training data
boost::mutex	m_data_mutex
	secures the internal data variables against usage during training
bool	m_debug
	enables some debug outputs
bool	m_depth_mode
	flag indicates if depth maps are ignored or used for classification
cv::Mat	m_eigenvalues
	Eigenvalues.
std::vector< cv::Mat >	m_eigenvectors
	Eigenvectors (spanning the face space)
IplImage **	m_eigenvectors_ipl
	Eigenvalues stored in IplImage format (to avoid conversion each time the function is called)
int	m_eigenvectors_per_person
	Number of eigenvectors per person to identify -> controls the total number of eigenvectors.
cv::Mat	m_face_class_average_projections
	The average factors of the eigenvector decomposition from each face class; The average factors from each face class originating from the eigenvector decomposition.
cv::SVM	m_face_classifier
	classifier for the identity of a person
std::vector< std::string >	m_face_labels
	A vector containing the corresponding labels to each face image projection in m_projected_training_faces (m_face_labels[i] stores the corresponding name to the face representation in the face subspace in m_projected_training_faces.rows(i))
int	m_feature_dim
	Dimension of features that is computed when using Eigenfaces,2D-PCA, 2D-LDA.
std::vector< int >	m_label_num
int	m_metric
	metric for nearest neighbor search in face space: 0 = Euklidean, 1 = Mahalanobis, 2 = Mahalanobis Cosine
int	m_norm_size
	Desired width and height of the Eigenfaces (=eigenvectors).
cv::Mat	m_projected_training_faces
	Projected training faces (coefficients for the eigenvectors of the face subspace)
int	m_rec_method
	flag for recognition method
ipa_PeopleDetector::Method	m_subs_meth
	recognition method
double	m_threshold_facespace
	Threshold to facespace.
double	m_threshold_unknown
	Threshold to detect unknown faces.
bool	m_use_unknown_thresh
	flag indicates if unknown threshold is used

Detailed Description

Definition at line 87 of file face_recognizer.h.

Member Enumeration Documentation

enum ipa_PeopleDetector::FaceRecognizer::Metrics

Enumerator:

EUCLIDEAN
MAHALANOBIS
MAHALANOBISCOSINE

Definition at line 165 of file face_recognizer.h.

Constructor & Destructor Documentation

ipa_PeopleDetector::FaceRecognizer::FaceRecognizer ( void )

Constructor.

Constructor

Definition at line 86 of file face_recognizer.cpp.

ipa_PeopleDetector::FaceRecognizer::~FaceRecognizer ( void )

Destructor.

Definition at line 92 of file face_recognizer.cpp.

Member Function Documentation

unsigned long ipa_PeopleDetector::FaceRecognizer::addFace	(	cv::Mat &	color_image,
		cv::Mat &	depth_image,
		cv::Rect &	face_bounding_box,
		cv::Rect &	head_bounding_box,
		std::string	label,
		std::vector< cv::Mat > &	face_images,
		std::vector< cv::Mat > &	face_depthmaps
	)		`[virtual]`

Function to add a new face The function adds a new face to the trained images. The labels are stored internally in m_face_labels. The face_images are stored externally to avoid waste of memory.

Parameters:

color_image	Color image containing the face
face_bounding_box	Rectangular bounding box of the detected face
label	Label of the new face
face_images	Vector containing all trained images

Returns:: Return code

Definition at line 202 of file face_recognizer.cpp.

void ipa_PeopleDetector::FaceRecognizer::assertDirectories ( boost::filesystem::path & data_directory ) [protected]

Function can be used to verify the existence of the data directory and created if it does not exist. Assertion of the data directory

Parameters:

[in] data_directory Path to top level directory with training data

Definition at line 919 of file face_recognizer.cpp.

unsigned long ipa_PeopleDetector::FaceRecognizer::convertAndResize	(	cv::Mat &	img,
		cv::Mat &	resized,
		cv::Rect &	face,
		cv::Size	new_size
	)		`[protected, virtual]`

Function to find the closest face class The function calculates the distance of each sample image to the trained face class

Parameters:

eigen_vector_weights	The weights of corresponding eigenvectors of projected test face
face_label	Label of closest face, or 'Unknown' if the face is unknown
number_eigenvectors	Number of eigenvalues

Returns:: Return code

Definition at line 588 of file face_recognizer.cpp.

unsigned long ipa_PeopleDetector::FaceRecognizer::deleteFace	(	int	index,
		std::vector< cv::Mat > &	face_images,
		std::vector< cv::Mat > &	face_depthmaps
	)		`[virtual]`

Deletes the database entry with the provided index.

Parameters:

index	The index of the database entry which shall be deleted
face_images	Vector containing all trained images

Returns:: Return code

Definition at line 260 of file face_recognizer.cpp.

unsigned long ipa_PeopleDetector::FaceRecognizer::deleteFaces	(	std::string	label,
		std::vector< cv::Mat > &	face_images,
		std::vector< cv::Mat > &	face_depthmaps
	)		`[virtual]`

Deletes all database entries with the provided label.

Parameters:

label	The label of the database entries which shall be deleted
face_images	Vector containing all trained images

Returns:: Return code

Definition at line 246 of file face_recognizer.cpp.

unsigned long ipa_PeopleDetector::FaceRecognizer::init	(	std::string	data_directory,
		int	norm_size,
		bool	norm_illumination,
		bool	norm_align,
		bool	norm_extreme_illumination,
		int	metric,
		bool	debug,
		std::vector< std::string > &	identification_labels_to_recognize,
		int	subs_meth,
		int	feature_dim,
		bool	use_unknown_thresh,
		bool	use_depth
	)		`[virtual]`

Initialization function. Parameters: see class member explanations.

Parameters:

data_directory	The directory for data files
identification_labels_to_recognize	A list of labels of persons that shall be recognized

Returns:: Return code

Definition at line 102 of file face_recognizer.cpp.

unsigned long ipa_PeopleDetector::FaceRecognizer::initTraining	(	std::string	data_directory,
		int	norm_size,
		bool	norm_illumination,
		bool	norm_align,
		bool	norm_extreme_illumination,
		bool	debug,
		std::vector< cv::Mat > &	face_images,
		std::vector< cv::Mat > &	face_depthmaps,
		bool	use_depth
	)		`[virtual]`

Initialization function for training purposes (only for capturing images, not the training of recognition models). Parameters: see class member explanations.

Parameters:

data_directory	The directory for data files
face_images	A list of images of persons that shall be recognized which will be loaded by the function.

Returns:: Return code

Definition at line 173 of file face_recognizer.cpp.

unsigned long ipa_PeopleDetector::FaceRecognizer::loadRecognitionModel ( std::vector< std::string > & identification_labels_to_recognize ) [virtual]

Loads a model for the recognition of a given set of faces.

Parameters:

identification_labels_to_recognize List of labels whose corresponding faces shall be available for recognition

Returns:: Return code

Implements ipa_PeopleDetector::AbstractFaceRecognizer.

Definition at line 368 of file face_recognizer.cpp.

unsigned long ipa_PeopleDetector::FaceRecognizer::loadTrainingData	(	std::vector< cv::Mat > &	face_images,
		std::vector< std::string > &	identification_labels_to_train
	)		`[protected, virtual]`

Loads the training data for the persons specified in identification_labels_to_train

Parameters:

face_images	A vector containing all training images
identification_indices_to_train	List of labels whose corresponding faces shall be trained. If empty, all available data is used and this list is filled with the labels.

Returns:: Return code

Definition at line 713 of file face_recognizer.cpp.

unsigned long ipa_PeopleDetector::FaceRecognizer::loadTrainingData	(	std::vector< cv::Mat > &	face_images,
		std::vector< cv::Mat > &	face_depthmaps,
		std::vector< std::string > &	identification_labels_to_train
	)		`[protected, virtual]`

Definition at line 807 of file face_recognizer.cpp.

unsigned long ipa_PeopleDetector::FaceRecognizer::recognizeFace	(	cv::Mat &	color_image,
		std::vector< cv::Rect > &	face_coordinates,
		std::vector< std::string > &	identification_labels
	)		`[protected, virtual]`

Function to Recognize faces The function recognize the faces

Parameters:

color_image	source color image
face_coordinates	Bounding boxes of detected faces (input parameter)
identification_labels	Vector of labels of classified faces, vector indices correspond with bounding boxes in face_coordinates

Returns:: Return code

Implements ipa_PeopleDetector::AbstractFaceRecognizer.

Definition at line 474 of file face_recognizer.cpp.

unsigned long ipa_PeopleDetector::FaceRecognizer::recognizeFace	(	cv::Mat &	color_image,
		cv::Mat &	depth_image,
		std::vector< cv::Rect > &	face_coordinates,
		std::vector< std::string > &	identification_labels
	)		`[protected, virtual]`

Implements ipa_PeopleDetector::AbstractFaceRecognizer.

Definition at line 528 of file face_recognizer.cpp.

unsigned long ipa_PeopleDetector::FaceRecognizer::saveRecognitionModel ( ) [virtual]

Saves the currently trained model for the recognition of a given set of faces.

Returns:: Return code

Implements ipa_PeopleDetector::AbstractFaceRecognizer.

Definition at line 323 of file face_recognizer.cpp.

unsigned long ipa_PeopleDetector::FaceRecognizer::saveTrainingData	(	std::vector< cv::Mat > &	face_images,
		std::vector< cv::Mat > &	face_depthmaps
	)		`[virtual]`

Saves the training data

Parameters:

face_images A vector containing all training images

Returns:: Return code

Definition at line 645 of file face_recognizer.cpp.

unsigned long ipa_PeopleDetector::FaceRecognizer::saveTrainingData ( std::vector< cv::Mat > & face_images ) [virtual]

Definition at line 598 of file face_recognizer.cpp.

unsigned long ipa_PeopleDetector::FaceRecognizer::trainFaceRecognition	(	ipa_PeopleDetector::FaceRecognizerBaseClass *	eff,
		std::vector< cv::Mat > &	data,
		std::vector< int > &	labels
	)		`[protected]`

Definition at line 267 of file face_recognizer.cpp.

unsigned long ipa_PeopleDetector::FaceRecognizer::trainRecognitionModel ( std::vector< std::string > & identification_labels_to_train ) [virtual]

Trains a model for the recognition of a given set of faces.

Parameters:

identification_indices_to_train List of labels whose corresponding faces shall be trained. If empty, all available data is used and this list is filled with the labels.

Returns:: Return code

Implements ipa_PeopleDetector::AbstractFaceRecognizer.

Definition at line 287 of file face_recognizer.cpp.

unsigned long ipa_PeopleDetector::FaceRecognizer::updateFaceLabel	(	int	index,
		std::string	new_label
	)		`[virtual]`

Updates the label of a single face in the database.

Parameters:

index	The index of the face in the database whose label shall be replaced by the new label
new_label	The new label

Returns:: Return code

Definition at line 240 of file face_recognizer.cpp.

unsigned long ipa_PeopleDetector::FaceRecognizer::updateFaceLabels	(	std::string	old_label,
		std::string	new_label
	)		`[virtual]`

Updates the labels of a stored person.

Parameters:

old_label	The label in the database which shall be replaced by the new label
new_label	The new label

Returns:: Return code

Definition at line 230 of file face_recognizer.cpp.

Member Data Documentation

std::vector<int> ipa_PeopleDetector::FaceRecognizer::depth_num_labels [protected]

Number of classes for depth training data.

Definition at line 204 of file face_recognizer.h.

std::vector<std::string> ipa_PeopleDetector::FaceRecognizer::depth_str_labels [protected]

Vector for class label strings for depth training data.

Definition at line 202 of file face_recognizer.h.

std::vector<std::string> ipa_PeopleDetector::FaceRecognizer::depth_str_labels_unique [protected]

Vector for class unique label strings for depth training data.

Definition at line 203 of file face_recognizer.h.

std::vector<bool> ipa_PeopleDetector::FaceRecognizer::dm_exist [protected]

vector indicating if depth map exists for corresponding color image

Definition at line 212 of file face_recognizer.h.

ipa_PeopleDetector::FaceRecognizerBaseClass* ipa_PeopleDetector::FaceRecognizer::eff_color [protected]

FaceRecognizer for color images.

Definition at line 209 of file face_recognizer.h.

ipa_PeopleDetector::FaceRecognizerBaseClass* ipa_PeopleDetector::FaceRecognizer::eff_depth [protected]

FaceRecognizer for depth maps.

Definition at line 208 of file face_recognizer.h.

FaceNormalizer ipa_PeopleDetector::FaceRecognizer::face_normalizer_ [protected]

Face normalizer object.

Definition at line 206 of file face_recognizer.h.

cv::Mat ipa_PeopleDetector::FaceRecognizer::m_average_image [protected]

Trained average Image.

Definition at line 224 of file face_recognizer.h.

std::vector<std::string> ipa_PeopleDetector::FaceRecognizer::m_current_label_set [protected]

A vector containing all different labels from the training session exactly once, order of appearance matters! (m_current_label_set[i] stores the corresponding name to the average face coordinates in the face subspace in m_face_class_average_projections.rows(i))

Definition at line 228 of file face_recognizer.h.

boost::filesystem::path ipa_PeopleDetector::FaceRecognizer::m_data_directory [protected]

folder that contains the training data

Definition at line 230 of file face_recognizer.h.

boost::mutex ipa_PeopleDetector::FaceRecognizer::m_data_mutex [protected]

secures the internal data variables against usage during training

Definition at line 233 of file face_recognizer.h.

bool ipa_PeopleDetector::FaceRecognizer::m_debug [protected]

enables some debug outputs

Definition at line 241 of file face_recognizer.h.

bool ipa_PeopleDetector::FaceRecognizer::m_depth_mode [protected]

flag indicates if depth maps are ignored or used for classification

Definition at line 213 of file face_recognizer.h.

cv::Mat ipa_PeopleDetector::FaceRecognizer::m_eigenvalues [protected]

Eigenvalues.

Definition at line 223 of file face_recognizer.h.

std::vector<cv::Mat> ipa_PeopleDetector::FaceRecognizer::m_eigenvectors [protected]

Eigenvectors (spanning the face space)

Definition at line 221 of file face_recognizer.h.

IplImage** ipa_PeopleDetector::FaceRecognizer::m_eigenvectors_ipl [protected]

Eigenvalues stored in IplImage format (to avoid conversion each time the function is called)

Definition at line 222 of file face_recognizer.h.

int ipa_PeopleDetector::FaceRecognizer::m_eigenvectors_per_person [protected]

Number of eigenvectors per person to identify -> controls the total number of eigenvectors.

Definition at line 237 of file face_recognizer.h.

cv::Mat ipa_PeopleDetector::FaceRecognizer::m_face_class_average_projections [protected]

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

Definition at line 227 of file face_recognizer.h.

cv::SVM ipa_PeopleDetector::FaceRecognizer::m_face_classifier [protected]

classifier for the identity of a person

Definition at line 229 of file face_recognizer.h.

std::vector<std::string> ipa_PeopleDetector::FaceRecognizer::m_face_labels [protected]

A vector containing the corresponding labels to each face image projection in m_projected_training_faces (m_face_labels[i] stores the corresponding name to the face representation in the face subspace in m_projected_training_faces.rows(i))

Definition at line 226 of file face_recognizer.h.

int ipa_PeopleDetector::FaceRecognizer::m_feature_dim [protected]

Dimension of features that is computed when using Eigenfaces,2D-PCA, 2D-LDA.

Definition at line 243 of file face_recognizer.h.

std::vector<int> ipa_PeopleDetector::FaceRecognizer::m_label_num [protected]

Definition at line 210 of file face_recognizer.h.

int ipa_PeopleDetector::FaceRecognizer::m_metric [protected]

metric for nearest neighbor search in face space: 0 = Euklidean, 1 = Mahalanobis, 2 = Mahalanobis Cosine

Definition at line 240 of file face_recognizer.h.

int ipa_PeopleDetector::FaceRecognizer::m_norm_size [protected]

Desired width and height of the Eigenfaces (=eigenvectors).

Definition at line 236 of file face_recognizer.h.