Public Member Functions
unsigned long	convertColorImageMessageToMat (const sensor_msgs::Image::ConstPtr &image_msg, cv_bridge::CvImageConstPtr &image_ptr, cv::Mat &image)
	Converts a color image message to cv::Mat format.
void	inputCallback (const cob_perception_msgs::DetectionArray::ConstPtr &face_recognition_msg, const cob_perception_msgs::ColorDepthImageArray::ConstPtr &face_detection_msg, const sensor_msgs::Image::ConstPtr &colorimage_msg)
	checks the detected faces from the input topic against the people segmentation and outputs faces if both are positive
	PeopleDetectionDisplayNode (ros::NodeHandle nh)
	~PeopleDetectionDisplayNode ()
Protected Attributes
image_transport::SubscriberFilter	colorimage_sub_
	Color camera image topic.
bool	display_
	if on, several debug outputs are activated
bool	display_timing_
message_filters::Subscriber < cob_perception_msgs::ColorDepthImageArray >	face_detection_subscriber_
	receives the face messages from the face detector
message_filters::Subscriber < cob_perception_msgs::DetectionArray >	face_recognition_subscriber_
	receives the face messages from the detection tracker
image_transport::ImageTransport *	it_
ros::NodeHandle	node_handle_
	ROS node handle.
image_transport::Publisher	people_detection_image_pub_
	topic for publishing the image containing the people positions
message_filters::Synchronizer < message_filters::sync_policies::ApproximateTime < cob_perception_msgs::DetectionArray, cob_perception_msgs::ColorDepthImageArray, sensor_msgs::Image > > *	sync_input_3_

Detailed Description

Constructor & Destructor Documentation

PeopleDetectionDisplayNode::PeopleDetectionDisplayNode ( ros::NodeHandle nh )

PeopleDetectionDisplayNode::~PeopleDetectionDisplayNode ( )

unsigned long PeopleDetectionDisplayNode::convertColorImageMessageToMat	(	const sensor_msgs::Image::ConstPtr &	image_msg,
		cv_bridge::CvImageConstPtr &	image_ptr,
		cv::Mat &	image
	)

Converts a color image message to cv::Mat format.

void PeopleDetectionDisplayNode::inputCallback	(	const cob_perception_msgs::DetectionArray::ConstPtr &	face_recognition_msg,
		const cob_perception_msgs::ColorDepthImageArray::ConstPtr &	face_detection_msg,
		const sensor_msgs::Image::ConstPtr &	colorimage_msg
	)