face_detector.h

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#ifndef __FACE_DETECTOR_H__
#define __FACE_DETECTOR_H__

#ifdef __LINUX__
#else
#include "cob_vision/cob_vision_ipa_utils/common/include/cob_vision_ipa_utils/MathUtils.h"
#include "cob_vision/cob_sensor_fusion/common/include/cob_sensor_fusion/ColoredPointCloud.h"    // todo: necessary?
#endif

#include <opencv/ml.h>
#include <opencv/cv.h>

namespace ipa_PeopleDetector
{

class FaceDetector
{
public:

        FaceDetector(void); 
        ~FaceDetector(void); 

        virtual unsigned long init(std::string directory, double faces_increase_search_scale, int faces_drop_groups, int faces_min_search_scale_x, int faces_min_search_scale_y,
                        bool reason_about_3dface_size, double face_size_max_m, double face_size_min_m, double max_face_z_m, bool debug);

        virtual unsigned long detectColorFaces(std::vector<cv::Mat>& heads_color_images, const std::vector<cv::Mat>& heads_depth_images,
                        std::vector<std::vector<cv::Rect> >& face_coordinates);

protected:

        // parameters
        double m_faces_increase_search_scale; 
        int m_faces_drop_groups; 
        int m_faces_min_search_scale_x; 
        int m_faces_min_search_scale_y; 
        bool m_reason_about_3dface_size; 
        double m_face_size_max_m; 
        double m_face_size_min_m; 
        double m_max_face_z_m; 
        bool m_debug; 

        CvMemStorage* m_storage; 
        CvHaarClassifierCascade* m_face_cascade; 

        bool m_initialized; 
};

} // end namespace

#endif // __FACE_DETECTOR_H__