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 162 of file face_detection.cpp.

Member Typedef Documentation

ApproximateDepthPolicy

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 218 of file face_detection.cpp.

ApproximateDepthSync

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

Definition at line 220 of file face_detection.cpp.

ApproximateDispPolicy

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 206 of file face_detection.cpp.

ApproximateDispSync

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

Definition at line 208 of file face_detection.cpp.

ExactDepthPolicy

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 215 of file face_detection.cpp.

ExactDepthSync

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

Definition at line 219 of file face_detection.cpp.

ExactDispPolicy

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 203 of file face_detection.cpp.

ExactDispSync

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

Definition at line 207 of file face_detection.cpp.

Constructor & Destructor Documentation

FaceDetector()

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

inlineexplicit

Definition at line 279 of file face_detection.cpp.

~FaceDetector()

people::FaceDetector::~FaceDetector ( )

inline

Definition at line 417 of file face_detection.cpp.

Member Function Documentation

connectCb()

void people::FaceDetector::connectCb ( )

inline

Definition at line 434 of file face_detection.cpp.

displayFacesOnImage()

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

inlineprivate

Definition at line 844 of file face_detection.cpp.

goalCB()

void people::FaceDetector::goalCB ( )

inline

Definition at line 491 of file face_detection.cpp.

imageCBAllDepth()

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 546 of file face_detection.cpp.

imageCBAllDisp()

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 601 of file face_detection.cpp.

matchAndDisplay()

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

inlineprivate

Definition at line 644 of file face_detection.cpp.

preemptCB()

void people::FaceDetector::preemptCB ( )

inline

Definition at line 496 of file face_detection.cpp.

Member Data Documentation

approximate_depth_sync_

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

Definition at line 222 of file face_detection.cpp.

approximate_disp_sync_

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

Definition at line 210 of file face_detection.cpp.

as_

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

Definition at line 225 of file face_detection.cpp.

BIGDIST_M

const double people::FaceDetector::BIGDIST_M

Definition at line 166 of file face_detection.cpp.

c1_info_sub_

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

Left/rgb camera info msg.

Definition at line 197 of file face_detection.cpp.

c2_info_sub_

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

Right/depth camera info msg.

Definition at line 198 of file face_detection.cpp.

cam_model_

image_geometry::StereoCameraModel people::FaceDetector::cam_model_

ROS->OpenCV image_geometry conversion.

Definition at line 248 of file face_detection.cpp.

camera_

std::string people::FaceDetector::camera_

Definition at line 183 of file face_detection.cpp.

camera_info_topic_

std::string people::FaceDetector::camera_info_topic_

Definition at line 187 of file face_detection.cpp.

camera_topic_

std::string people::FaceDetector::camera_topic_

Definition at line 184 of file face_detection.cpp.

cloud_pub_

ros::Publisher people::FaceDetector::cloud_pub_

Definition at line 239 of file face_detection.cpp.

connect_mutex_

boost::mutex people::FaceDetector::connect_mutex_

Definition at line 171 of file face_detection.cpp.

cv_image_out_

cv::Mat people::FaceDetector::cv_image_out_

Display image.

Definition at line 244 of file face_detection.cpp.

cv_mutex_

boost::mutex people::FaceDetector::cv_mutex_

Definition at line 272 of file face_detection.cpp.

depth_image_

std::string people::FaceDetector::depth_image_

Definition at line 185 of file face_detection.cpp.

depth_image_sub_

image_transport::SubscriberFilter people::FaceDetector::depth_image_sub_

Definition at line 195 of file face_detection.cpp.

depth_info_topic_

std::string people::FaceDetector::depth_info_topic_

Definition at line 188 of file face_detection.cpp.

depth_ns_

std::string people::FaceDetector::depth_ns_

Definition at line 190 of file face_detection.cpp.

depth_topic_

std::string people::FaceDetector::depth_topic_

Definition at line 186 of file face_detection.cpp.

dimage_mutex_

boost::mutex people::FaceDetector::dimage_mutex_

Definition at line 272 of file face_detection.cpp.

disp_image_sub_

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

Depth image msg. Disparity image msg.

Definition at line 196 of file face_detection.cpp.

disparity_topic_

std::string people::FaceDetector::disparity_topic_

Definition at line 179 of file face_detection.cpp.

do_continuous_

bool people::FaceDetector::do_continuous_

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

Definition at line 274 of file face_detection.cpp.

do_display_

bool people::FaceDetector::do_display_

True/false display images with bounding boxes locally.

Definition at line 243 of file face_detection.cpp.

do_publish_unknown_

bool people::FaceDetector::do_publish_unknown_

Publish faces even if they have unknown depth/size.

Definition at line 276 of file face_detection.cpp.

exact_depth_sync_

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

Definition at line 221 of file face_detection.cpp.

exact_disp_sync_

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

Definition at line 209 of file face_detection.cpp.

external_init_

bool people::FaceDetector::external_init_

Definition at line 233 of file face_detection.cpp.

faces_

Faces* people::FaceDetector::faces_

List of faces and associated fcns.

Definition at line 251 of file face_detection.cpp.

feedback_

face_detector::FaceDetectorFeedback people::FaceDetector::feedback_

Definition at line 226 of file face_detection.cpp.

fixed_frame_

std::string people::FaceDetector::fixed_frame_

Definition at line 270 of file face_detection.cpp.

haar_filename_

std::string people::FaceDetector::haar_filename_

Training file for the haar cascade classifier.

Definition at line 253 of file face_detection.cpp.

image_image_

std::string people::FaceDetector::image_image_

Definition at line 175 of file face_detection.cpp.

image_sub_

image_transport::SubscriberFilter people::FaceDetector::image_sub_

Left/rgb image msg.

Definition at line 194 of file face_detection.cpp.

it_

image_transport::ImageTransport people::FaceDetector::it_

Definition at line 193 of file face_detection.cpp.

left_camera_info_topic_

std::string people::FaceDetector::left_camera_info_topic_

Definition at line 180 of file face_detection.cpp.

left_topic_

std::string people::FaceDetector::left_topic_

Definition at line 178 of file face_detection.cpp.

limage_mutex_

boost::mutex people::FaceDetector::limage_mutex_

Definition at line 272 of file face_detection.cpp.

max_id_

int people::FaceDetector::max_id_

Definition at line 264 of file face_detection.cpp.

name_

std::string people::FaceDetector::name_

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

Definition at line 252 of file face_detection.cpp.

nh_

ros::NodeHandle people::FaceDetector::nh_

Definition at line 169 of file face_detection.cpp.

pos_array_pub_

ros::Publisher people::FaceDetector::pos_array_pub_

Definition at line 240 of file face_detection.cpp.

pos_list_

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

Queue of updated face positions from the filter.

Definition at line 262 of file face_detection.cpp.

pos_mutex_

boost::mutex people::FaceDetector::pos_mutex_

Definition at line 272 of file face_detection.cpp.

pos_sub_

ros::Subscriber people::FaceDetector::pos_sub_

Definition at line 232 of file face_detection.cpp.

quit_

bool people::FaceDetector::quit_

Definition at line 266 of file face_detection.cpp.

reliability_

double people::FaceDetector::reliability_

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

Definition at line 254 of file face_detection.cpp.

result_

face_detector::FaceDetectorResult people::FaceDetector::result_

Definition at line 227 of file face_detection.cpp.

rgb_ns_

std::string people::FaceDetector::rgb_ns_

Definition at line 189 of file face_detection.cpp.

right_camera_info_topic_

std::string people::FaceDetector::right_camera_info_topic_

Definition at line 181 of file face_detection.cpp.

stereo_namespace_

std::string people::FaceDetector::stereo_namespace_

Definition at line 177 of file face_detection.cpp.

tf_

tf::TransformListener people::FaceDetector::tf_

Definition at line 268 of file face_detection.cpp.

use_depth_

bool people::FaceDetector::use_depth_

True/false use depth information.

Definition at line 247 of file face_detection.cpp.

use_rgbd_

bool people::FaceDetector::use_rgbd_

Definition at line 172 of file face_detection.cpp.

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

• face_detection.cpp