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00041 #ifndef FACES_H
00042 #define FACES_H
00043
00044
00045
00046 #include <stdio.h>
00047 #include <iostream>
00048 #include <vector>
00049
00050 #include <opencv/cv.hpp>
00051 #include <opencv/cxcore.hpp>
00052 #include <opencv/cvaux.hpp>
00053
00054 #include "image_geometry/stereo_camera_model.h"
00055 #include "ros/time.h"
00056 #include <ros/console.h>
00057 #include <boost/thread/mutex.hpp>
00058 #include <boost/bind.hpp>
00059 #include <boost/thread/thread.hpp>
00060 #include <boost/thread/condition.hpp>
00061
00062
00063 using namespace std;
00064
00065 #define FACE_SIZE_MIN_M 0.1
00066 #define FACE_SIZE_MAX_M 0.5
00067 #define MAX_FACE_Z_M 8.0
00068 // Default thresholds for face tracking.
00069 #define FACE_SEP_DIST_M 1.0
00071 namespace people
00072 {
00073
00074
00078 struct Box2D3D
00079 {
00080 cv::Point2d center2d;
00081 cv::Point3d center3d;
00082 double width2d;
00083 double width3d;
00084 cv::Rect box2d;
00085 string status;
00086 int id;
00087 };
00088
00089
00093 struct Face
00094 {
00095 string id;
00096 string name;
00097 };
00098
00099
00105 class Faces
00106 {
00107 public:
00108
00109
00110
00111
00112 double face_size_min_m_;
00113 double face_size_max_m_;
00114 double max_face_z_m_;
00115
00116 double face_sep_dist_m_;
00120
00121 Faces();
00122
00123
00124 ~Faces();
00125
00126
00139 vector<Box2D3D> detectAllFacesDisparity(const cv::Mat &image, double threshold, const cv::Mat &disparity_image, image_geometry::StereoCameraModel *cam_model);
00140
00153 vector<Box2D3D> detectAllFacesDepth(const cv::Mat &image, double threshold, const cv::Mat &depth_image, image_geometry::StereoCameraModel *cam_model);
00154
00163 void initFaceDetectionDisparity(uint num_cascades, string haar_classifier_filename, double face_size_min_m, double face_size_max_m, double max_face_z_m, double face_sep_dist_m);
00164
00165
00174 void initFaceDetectionDepth(uint num_cascades, string haar_classifier_filename, double face_size_min_m, double face_size_max_m, double max_face_z_m, double face_sep_dist_m);
00175
00177 private:
00178
00179 vector<Face> list_;
00180 vector<Box2D3D> faces_;
00182 cv::Mat cv_image_gray_;
00183 cv::Mat const* disparity_image_;
00184 cv::Mat const* depth_image_;
00185 image_geometry::StereoCameraModel *cam_model_;
00187 boost::mutex face_mutex_, face_done_mutex_, t_mutex_;
00188 boost::mutex* face_go_mutex_;
00189 boost::thread_group threads_;
00190 boost::condition face_detection_ready_cond_, face_detection_done_cond_;
00191 int num_threads_to_wait_for_;
00192 int images_ready_;
00193
00194
00195 cv::CascadeClassifier cascade_;
00197 void faceDetectionThreadDisparity(uint i);
00198 void faceDetectionThreadDepth(uint i);
00199
00200 };
00201
00202 };
00203
00204 #endif
00205