people::FaceDetector Class Reference

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. More...
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. More...
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_
std::string	camera_
std::string	camera_info_topic_
std::string	camera_topic_
ros::Publisher	cloud_pub_
boost::mutex	connect_mutex_
cv::Mat	cv_image_out_
boost::mutex	cv_mutex_
std::string	depth_image_
image_transport::SubscriberFilter	depth_image_sub_
std::string	depth_info_topic_
std::string	depth_ns_
std::string	depth_topic_
boost::mutex	dimage_mutex_
message_filters::Subscriber< stereo_msgs::DisparityImage >	disp_image_sub_
std::string	disparity_topic_
bool	do_continuous_
bool	do_display_
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_
std::string	haar_filename_
std::string	image_image_
image_transport::SubscriberFilter	image_sub_
image_transport::ImageTransport	it_
std::string	left_camera_info_topic_
std::string	left_topic_
boost::mutex	limage_mutex_
int	max_id_
std::string	name_
ros::NodeHandle	nh_
ros::Publisher	pos_array_pub_
std::map< std::string, RestampedPositionMeasurement >	pos_list_
boost::mutex	pos_mutex_
ros::Subscriber	pos_sub_
bool	quit_
double	reliability_
face_detector::FaceDetectorResult	result_
std::string	rgb_ns_
std::string	right_camera_info_topic_
std::string	stereo_namespace_
tf::TransformListener	tf_
bool	use_depth_
bool	use_rgbd_

Private Member Functions
void	displayFacesOnImage (std::vector< Box2D3D > faces_vector)
void	matchAndDisplay (std::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 83 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 139 of file face_detection.cpp.

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

Definition at line 141 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 127 of file face_detection.cpp.

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

Definition at line 129 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 136 of file face_detection.cpp.

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

Definition at line 140 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 124 of file face_detection.cpp.

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

Definition at line 128 of file face_detection.cpp.

Constructor & Destructor Documentation

people::FaceDetector::FaceDetector ( std::string  name )

inlineexplicit

Definition at line 200 of file face_detection.cpp.

people::FaceDetector::~FaceDetector ( )

inline

Definition at line 337 of file face_detection.cpp.

Member Function Documentation

void people::FaceDetector::connectCb ( )

inline

Definition at line 354 of file face_detection.cpp.

void people::FaceDetector::displayFacesOnImage ( std::vector< Box2D3D >  faces_vector )

inlineprivate

Definition at line 764 of file face_detection.cpp.

void people::FaceDetector::goalCB ( )

inline

Definition at line 411 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 466 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 521 of file face_detection.cpp.

void people::FaceDetector::matchAndDisplay ( std::vector< Box2D3D >  faces_vector, std_msgs::Header  header  )

inlineprivate

Definition at line 564 of file face_detection.cpp.

void people::FaceDetector::preemptCB ( )

inline

Definition at line 416 of file face_detection.cpp.

Member Data Documentation

boost::shared_ptr<ApproximateDepthSync> people::FaceDetector::approximate_depth_sync_

Definition at line 143 of file face_detection.cpp.

boost::shared_ptr<ApproximateDispSync> people::FaceDetector::approximate_disp_sync_

Definition at line 131 of file face_detection.cpp.

actionlib::SimpleActionServer<face_detector::FaceDetectorAction> people::FaceDetector::as_

Definition at line 146 of file face_detection.cpp.

const double people::FaceDetector::BIGDIST_M

Definition at line 87 of file face_detection.cpp.

message_filters::Subscriber<sensor_msgs::CameraInfo> people::FaceDetector::c1_info_sub_

Left/rgb camera info msg.

Definition at line 118 of file face_detection.cpp.

message_filters::Subscriber<sensor_msgs::CameraInfo> people::FaceDetector::c2_info_sub_

Right/depth camera info msg.

Definition at line 119 of file face_detection.cpp.

image_geometry::StereoCameraModel people::FaceDetector::cam_model_

ROS->OpenCV image_geometry conversion.

Definition at line 169 of file face_detection.cpp.

std::string people::FaceDetector::camera_

Definition at line 104 of file face_detection.cpp.

std::string people::FaceDetector::camera_info_topic_

Definition at line 108 of file face_detection.cpp.

std::string people::FaceDetector::camera_topic_

Definition at line 105 of file face_detection.cpp.

ros::Publisher people::FaceDetector::cloud_pub_

Definition at line 160 of file face_detection.cpp.

boost::mutex people::FaceDetector::connect_mutex_

Definition at line 92 of file face_detection.cpp.

cv::Mat people::FaceDetector::cv_image_out_

Display image.

Definition at line 165 of file face_detection.cpp.

boost::mutex people::FaceDetector::cv_mutex_

Definition at line 193 of file face_detection.cpp.

std::string people::FaceDetector::depth_image_

Definition at line 106 of file face_detection.cpp.

image_transport::SubscriberFilter people::FaceDetector::depth_image_sub_

Definition at line 116 of file face_detection.cpp.

std::string people::FaceDetector::depth_info_topic_

Definition at line 109 of file face_detection.cpp.

std::string people::FaceDetector::depth_ns_

Definition at line 111 of file face_detection.cpp.

std::string people::FaceDetector::depth_topic_

Definition at line 107 of file face_detection.cpp.

boost::mutex people::FaceDetector::dimage_mutex_

Definition at line 193 of file face_detection.cpp.

message_filters::Subscriber<stereo_msgs::DisparityImage> people::FaceDetector::disp_image_sub_

Depth image msg. Disparity image msg.

Definition at line 117 of file face_detection.cpp.

std::string people::FaceDetector::disparity_topic_

Definition at line 100 of file face_detection.cpp.

bool people::FaceDetector::do_continuous_

True = search for faces continuously. False = run as an action.

Definition at line 195 of file face_detection.cpp.

bool people::FaceDetector::do_display_

True/false display images with bounding boxes locally.

Definition at line 164 of file face_detection.cpp.

bool people::FaceDetector::do_publish_unknown_

Publish faces even if they have unknown depth/size.

Definition at line 197 of file face_detection.cpp.

boost::shared_ptr<ExactDepthSync> people::FaceDetector::exact_depth_sync_

Definition at line 142 of file face_detection.cpp.

boost::shared_ptr<ExactDispSync> people::FaceDetector::exact_disp_sync_

Definition at line 130 of file face_detection.cpp.

bool people::FaceDetector::external_init_

Definition at line 154 of file face_detection.cpp.

Faces* people::FaceDetector::faces_

List of faces and associated fcns.

Definition at line 172 of file face_detection.cpp.

face_detector::FaceDetectorFeedback people::FaceDetector::feedback_

Definition at line 147 of file face_detection.cpp.

std::string people::FaceDetector::fixed_frame_

Definition at line 191 of file face_detection.cpp.

std::string people::FaceDetector::haar_filename_

Training file for the haar cascade classifier.

Definition at line 174 of file face_detection.cpp.

std::string people::FaceDetector::image_image_

Definition at line 96 of file face_detection.cpp.

image_transport::SubscriberFilter people::FaceDetector::image_sub_

Left/rgb image msg.

Definition at line 115 of file face_detection.cpp.

image_transport::ImageTransport people::FaceDetector::it_

Definition at line 114 of file face_detection.cpp.

std::string people::FaceDetector::left_camera_info_topic_

Definition at line 101 of file face_detection.cpp.

std::string people::FaceDetector::left_topic_

Definition at line 99 of file face_detection.cpp.

boost::mutex people::FaceDetector::limage_mutex_

Definition at line 193 of file face_detection.cpp.

int people::FaceDetector::max_id_

Definition at line 185 of file face_detection.cpp.

std::string people::FaceDetector::name_

Name of the detector (frontalface, profileface, etc) to be published in face location msgs.

Definition at line 173 of file face_detection.cpp.

ros::NodeHandle people::FaceDetector::nh_

Definition at line 90 of file face_detection.cpp.

ros::Publisher people::FaceDetector::pos_array_pub_

Definition at line 161 of file face_detection.cpp.

std::map<std::string, RestampedPositionMeasurement> people::FaceDetector::pos_list_

Queue of updated face positions from the filter.

Definition at line 183 of file face_detection.cpp.

boost::mutex people::FaceDetector::pos_mutex_

Definition at line 193 of file face_detection.cpp.

ros::Subscriber people::FaceDetector::pos_sub_

Definition at line 153 of file face_detection.cpp.

bool people::FaceDetector::quit_

Definition at line 187 of file face_detection.cpp.

double people::FaceDetector::reliability_

Reliability of the predictions. This should depend on the training file used.

Definition at line 175 of file face_detection.cpp.

face_detector::FaceDetectorResult people::FaceDetector::result_

Definition at line 148 of file face_detection.cpp.

std::string people::FaceDetector::rgb_ns_

Definition at line 110 of file face_detection.cpp.

std::string people::FaceDetector::right_camera_info_topic_

Definition at line 102 of file face_detection.cpp.

std::string people::FaceDetector::stereo_namespace_

Definition at line 98 of file face_detection.cpp.

tf::TransformListener people::FaceDetector::tf_

Definition at line 189 of file face_detection.cpp.

bool people::FaceDetector::use_depth_

True/false use depth information.

Definition at line 168 of file face_detection.cpp.

bool people::FaceDetector::use_rgbd_

Definition at line 93 of file face_detection.cpp.

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The documentation for this class was generated from the following file:

• face_detection.cpp