Classes
struct	NullDeleter
	Position message callback. More...
struct	RestampedPositionMeasurement
Public Types
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo >	ApproximateDepthPolicy
typedef message_filters::Synchronizer < ApproximateDepthPolicy >	ApproximateDepthSync
typedef message_filters::sync_policies::ApproximateTime < sensor_msgs::Image, stereo_msgs::DisparityImage, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo >	ApproximateDispPolicy
typedef message_filters::Synchronizer < ApproximateDispPolicy >	ApproximateDispSync
typedef message_filters::sync_policies::ExactTime < sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo >	ExactDepthPolicy
typedef message_filters::Synchronizer < ExactDepthPolicy >	ExactDepthSync
typedef message_filters::sync_policies::ExactTime < sensor_msgs::Image, stereo_msgs::DisparityImage, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo >	ExactDispPolicy
typedef message_filters::Synchronizer < ExactDispPolicy >	ExactDispSync
Public Member Functions
void	connectCb ()
	FaceDetector (std::string name)
void	goalCB ()
void	imageCBAllDepth (const sensor_msgs::Image::ConstPtr &image, const sensor_msgs::Image::ConstPtr &depth_image, const sensor_msgs::CameraInfo::ConstPtr &c1_info, const sensor_msgs::CameraInfo::ConstPtr &c2_info)
	Image callback for synced messages.
void	imageCBAllDisp (const sensor_msgs::Image::ConstPtr &image, const stereo_msgs::DisparityImage::ConstPtr &disp_image, const sensor_msgs::CameraInfo::ConstPtr &c1_info, const sensor_msgs::CameraInfo::ConstPtr &c2_info)
	Image callback for synced messages.
void	preemptCB ()
	~FaceDetector ()
Public Attributes
boost::shared_ptr < ApproximateDepthSync >	approximate_depth_sync_
boost::shared_ptr < ApproximateDispSync >	approximate_disp_sync_
actionlib::SimpleActionServer < face_detector::FaceDetectorAction >	as_
const double	BIGDIST_M
message_filters::Subscriber < sensor_msgs::CameraInfo >	c1_info_sub_
message_filters::Subscriber < sensor_msgs::CameraInfo >	c2_info_sub_
image_geometry::StereoCameraModel	cam_model_
string	camera_
string	camera_info_topic_
string	camera_topic_
ros::Publisher	cloud_pub_
boost::mutex	connect_mutex_
cv::Mat	cv_image_out_
boost::mutex	cv_mutex_
string	depth_image_
image_transport::SubscriberFilter	depth_image_sub_
string	depth_info_topic_
string	depth_ns_
string	depth_topic_
boost::mutex	dimage_mutex_
message_filters::Subscriber < stereo_msgs::DisparityImage >	disp_image_sub_
string	disparity_topic_
bool	do_continuous_
bool	do_display_
bool	do_display_face_id_
bool	do_publish_unknown_
boost::shared_ptr< ExactDepthSync >	exact_depth_sync_
boost::shared_ptr< ExactDispSync >	exact_disp_sync_
bool	external_init_
Faces *	faces_
face_detector::FaceDetectorFeedback	feedback_
std::string	fixed_frame_
string	haar_filename_
string	image_image_
image_transport::SubscriberFilter	image_sub_
image_transport::ImageTransport	it_
string	left_camera_info_topic_
string	left_topic_
boost::mutex	limage_mutex_
int	max_id_
string	name_
ros::NodeHandle	nh_
ros::Publisher	pos_array_pub_
map< string, RestampedPositionMeasurement >	pos_list_
boost::mutex	pos_mutex_
ros::Subscriber	pos_sub_
bool	quit_
double	reliability_
face_detector::FaceDetectorResult	result_
string	rgb_ns_
string	right_camera_info_topic_
string	stereo_namespace_
tf::TransformListener	tf_
bool	use_depth_
bool	use_rgbd_
Private Member Functions
void	displayFacesOnImage (vector< Box2D3D > faces_vector)
void	matchAndDisplay (vector< Box2D3D > faces_vector, std_msgs::Header header)

Detailed Description

FaceDetector - A wrapper around OpenCV's face detection, plus some usage of depth from stereo to restrict the results based on plausible face size.

Definition at line 84 of file face_detection.cpp.

Member Typedef Documentation

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> people::FaceDetector::ApproximateDepthPolicy

Sync policy for approx time with depth.

Definition at line 132 of file face_detection.cpp.

typedef message_filters::Synchronizer<ApproximateDepthPolicy> people::FaceDetector::ApproximateDepthSync

Definition at line 134 of file face_detection.cpp.

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, stereo_msgs::DisparityImage, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> people::FaceDetector::ApproximateDispPolicy

Sync policy for approx time with disparity.

Definition at line 124 of file face_detection.cpp.

typedef message_filters::Synchronizer<ApproximateDispPolicy> people::FaceDetector::ApproximateDispSync

Definition at line 126 of file face_detection.cpp.

typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> people::FaceDetector::ExactDepthPolicy

Sync policy for exact time with depth.

Definition at line 131 of file face_detection.cpp.

typedef message_filters::Synchronizer<ExactDepthPolicy> people::FaceDetector::ExactDepthSync

Definition at line 133 of file face_detection.cpp.

typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, stereo_msgs::DisparityImage, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> people::FaceDetector::ExactDispPolicy

Sync policy for exact time with disparity.

Definition at line 123 of file face_detection.cpp.

typedef message_filters::Synchronizer<ExactDispPolicy> people::FaceDetector::ExactDispSync

Definition at line 125 of file face_detection.cpp.

Constructor & Destructor Documentation

people::FaceDetector::FaceDetector ( std::string name ) [inline]

Definition at line 193 of file face_detection.cpp.

people::FaceDetector::~FaceDetector ( ) [inline]

Definition at line 330 of file face_detection.cpp.

Member Function Documentation

void people::FaceDetector::connectCb ( ) [inline]

Definition at line 348 of file face_detection.cpp.

void people::FaceDetector::displayFacesOnImage ( vector< Box2D3D > faces_vector ) [inline, private]

Definition at line 759 of file face_detection.cpp.

void people::FaceDetector::goalCB ( ) [inline]

Definition at line 402 of file face_detection.cpp.

void people::FaceDetector::imageCBAllDepth	(	const sensor_msgs::Image::ConstPtr &	image,
		const sensor_msgs::Image::ConstPtr &	depth_image,
		const sensor_msgs::CameraInfo::ConstPtr &	c1_info,
		const sensor_msgs::CameraInfo::ConstPtr &	c2_info
	)		`[inline]`

Image callback for synced messages.

For each new image: convert it to OpenCV format, perform face detection using OpenCV's haar filter cascade classifier, and (if requested) draw rectangles around the found faces. Can also compute which faces are associated (by proximity, currently) with faces it already has in its list of people.

Definition at line 456 of file face_detection.cpp.

void people::FaceDetector::imageCBAllDisp	(	const sensor_msgs::Image::ConstPtr &	image,
		const stereo_msgs::DisparityImage::ConstPtr &	disp_image,
		const sensor_msgs::CameraInfo::ConstPtr &	c1_info,
		const sensor_msgs::CameraInfo::ConstPtr &	c2_info
	)		`[inline]`

Image callback for synced messages.

For each new image: convert it to OpenCV format, perform face detection using OpenCV's haar filter cascade classifier, and (if requested) draw rectangles around the found faces. Can also compute which faces are associated (by proximity, currently) with faces it already has in its list of people.

Definition at line 511 of file face_detection.cpp.