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_

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_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 192 of file face_detection.cpp.

people::FaceDetector::~FaceDetector ( )

inline

Definition at line 328 of file face_detection.cpp.

Member Function Documentation

void people::FaceDetector::connectCb ( )

inline

Definition at line 346 of file face_detection.cpp.

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

inlineprivate

Definition at line 757 of file face_detection.cpp.

void people::FaceDetector::goalCB ( )

inline

Definition at line 400 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 454 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 509 of file face_detection.cpp.

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

inlineprivate

Definition at line 552 of file face_detection.cpp.

void people::FaceDetector::preemptCB ( )

inline

Definition at line 405 of file face_detection.cpp.

Member Data Documentation

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

Definition at line 136 of file face_detection.cpp.

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

Definition at line 128 of file face_detection.cpp.

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

Definition at line 139 of file face_detection.cpp.

const double people::FaceDetector::BIGDIST_M

Definition at line 88 of file face_detection.cpp.

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

Left/rgb camera info msg.

Definition at line 119 of file face_detection.cpp.

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

Right/depth camera info msg.

Definition at line 120 of file face_detection.cpp.

image_geometry::StereoCameraModel people::FaceDetector::cam_model_

ROS->OpenCV image_geometry conversion.

Definition at line 162 of file face_detection.cpp.

string people::FaceDetector::camera_

Definition at line 105 of file face_detection.cpp.

string people::FaceDetector::camera_info_topic_

Definition at line 109 of file face_detection.cpp.

string people::FaceDetector::camera_topic_

Definition at line 106 of file face_detection.cpp.

ros::Publisher people::FaceDetector::cloud_pub_

Definition at line 153 of file face_detection.cpp.

boost::mutex people::FaceDetector::connect_mutex_

Definition at line 93 of file face_detection.cpp.

cv::Mat people::FaceDetector::cv_image_out_

Display image.

Definition at line 158 of file face_detection.cpp.

boost::mutex people::FaceDetector::cv_mutex_

Definition at line 186 of file face_detection.cpp.

string people::FaceDetector::depth_image_

Definition at line 107 of file face_detection.cpp.

image_transport::SubscriberFilter people::FaceDetector::depth_image_sub_

Definition at line 117 of file face_detection.cpp.

string people::FaceDetector::depth_info_topic_

Definition at line 110 of file face_detection.cpp.

string people::FaceDetector::depth_ns_

Definition at line 112 of file face_detection.cpp.

string people::FaceDetector::depth_topic_

Definition at line 108 of file face_detection.cpp.

boost::mutex people::FaceDetector::dimage_mutex_

Definition at line 186 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 118 of file face_detection.cpp.

string people::FaceDetector::disparity_topic_

Definition at line 101 of file face_detection.cpp.

bool people::FaceDetector::do_continuous_

True = run as a normal node, searching for faces continuously, False = run as an action, wait for action call to start detection.

Definition at line 188 of file face_detection.cpp.

bool people::FaceDetector::do_display_

True/false display images with bounding boxes locally.

Definition at line 157 of file face_detection.cpp.

bool people::FaceDetector::do_publish_unknown_

Publish faces even if they have unknown depth/size. Will just use the image x,y in the pos field of the published position_measurement.

Definition at line 190 of file face_detection.cpp.

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

Definition at line 135 of file face_detection.cpp.

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

Definition at line 127 of file face_detection.cpp.

bool people::FaceDetector::external_init_

Definition at line 146 of file face_detection.cpp.

Faces* people::FaceDetector::faces_

List of faces and associated fcns.

Definition at line 165 of file face_detection.cpp.

face_detector::FaceDetectorFeedback people::FaceDetector::feedback_

Definition at line 140 of file face_detection.cpp.

std::string people::FaceDetector::fixed_frame_

Definition at line 184 of file face_detection.cpp.

string people::FaceDetector::haar_filename_

Training file for the haar cascade classifier.

Definition at line 167 of file face_detection.cpp.

string people::FaceDetector::image_image_

Definition at line 97 of file face_detection.cpp.

image_transport::SubscriberFilter people::FaceDetector::image_sub_

Left/rgb image msg.

Definition at line 116 of file face_detection.cpp.

image_transport::ImageTransport people::FaceDetector::it_

Definition at line 115 of file face_detection.cpp.

string people::FaceDetector::left_camera_info_topic_

Definition at line 102 of file face_detection.cpp.

string people::FaceDetector::left_topic_

Definition at line 100 of file face_detection.cpp.

boost::mutex people::FaceDetector::limage_mutex_

Definition at line 186 of file face_detection.cpp.

int people::FaceDetector::max_id_

Definition at line 178 of file face_detection.cpp.

string people::FaceDetector::name_

Name of the detector. Ie frontalface, profileface. These will be the names in the published face location msgs.

Definition at line 166 of file face_detection.cpp.

ros::NodeHandle people::FaceDetector::nh_

Definition at line 91 of file face_detection.cpp.

ros::Publisher people::FaceDetector::pos_array_pub_

Definition at line 154 of file face_detection.cpp.

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

Queue of updated face positions from the filter.

Definition at line 176 of file face_detection.cpp.

boost::mutex people::FaceDetector::pos_mutex_

Definition at line 186 of file face_detection.cpp.

ros::Subscriber people::FaceDetector::pos_sub_

Definition at line 145 of file face_detection.cpp.

bool people::FaceDetector::quit_

Definition at line 180 of file face_detection.cpp.

double people::FaceDetector::reliability_

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

Definition at line 168 of file face_detection.cpp.

face_detector::FaceDetectorResult people::FaceDetector::result_

Definition at line 141 of file face_detection.cpp.

string people::FaceDetector::rgb_ns_

Definition at line 111 of file face_detection.cpp.

string people::FaceDetector::right_camera_info_topic_

Definition at line 103 of file face_detection.cpp.

string people::FaceDetector::stereo_namespace_

Definition at line 99 of file face_detection.cpp.

tf::TransformListener people::FaceDetector::tf_

Definition at line 182 of file face_detection.cpp.

bool people::FaceDetector::use_depth_

True/false use depth information.

Definition at line 161 of file face_detection.cpp.

bool people::FaceDetector::use_rgbd_

Definition at line 94 of file face_detection.cpp.

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

face_detection.cpp

Classes

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation