Inheritance diagram for opencv_apps::FaceRecognitionNodelet:

[legend]

Public Member Functions
virtual void	onInit ()
	Initialize nodehandles nh_ and pnh_. Subclass should call this method in its onInit method. More...

	~FaceRecognitionNodelet ()

Public Member Functions inherited from opencv_apps::Nodelet
	Nodelet ()

Public Member Functions inherited from nodelet::Nodelet
void	init (const std::string &name, const M_string &remapping_args, const V_string &my_argv, ros::CallbackQueueInterface st_queue=NULL, ros::CallbackQueueInterface mt_queue=NULL)

	Nodelet ()

virtual	~Nodelet ()

Private Types
typedef message_filters::sync_policies::ApproximateTime< sensor_msgs::Image, opencv_apps::FaceArrayStamped >	ApproximateSyncPolicy

typedef opencv_apps::FaceRecognitionConfig	Config

typedef dynamic_reconfigure::Server< Config >	Server

typedef message_filters::sync_policies::ExactTime< sensor_msgs::Image, opencv_apps::FaceArrayStamped >	SyncPolicy

Private Member Functions
void	configCallback (Config &config, uint32_t level)

void	drawFace (cv::Mat &img, const opencv_apps::Face &face)

void	extractImage (const cv::Mat &img, const opencv_apps::Face &face, cv::Mat &ret, double padding=0.0)

void	extractImage (const cv::Mat &img, const opencv_apps::Rect &rect, cv::Mat &ret, double padding=0.0)

void	faceImageCallback (const sensor_msgs::Image::ConstPtr &image, const opencv_apps::FaceArrayStamped::ConstPtr &faces)

void	predict (const cv::Mat &img, int &label, double &confidence)

void	retrain ()

void	subscribe ()
	This method is called when publisher is subscribed by other nodes. Set up subscribers in this method. More...

void	train (std::vector< cv::Mat > &images, std::vector< std::string > &labels)

bool	trainCallback (opencv_apps::FaceRecognitionTrain::Request &req, opencv_apps::FaceRecognitionTrain::Response &res)

void	unsubscribe ()
	This method is called when publisher is unsubscribed by other nodes. Shut down subscribers in this method. More...

Private Attributes
boost::shared_ptr< message_filters::Synchronizer< ApproximateSyncPolicy > >	async_

boost::shared_ptr< Server >	cfg_srv_

Config	config_

std::string	data_dir_

ros::Publisher	debug_img_pub_

cv::Size	face_model_size_

double	face_padding_

ros::Publisher	face_pub_

message_filters::Subscriber< opencv_apps::FaceArrayStamped >	face_sub_

image_transport::SubscriberFilter	img_sub_

boost::shared_ptr< image_transport::ImageTransport >	it_

boost::shared_ptr< LabelMapper >	label_mapper_

cv::Ptr< face::FaceRecognizer >	model_

boost::mutex	mutex_

int	queue_size_

bool	save_train_data_

boost::shared_ptr< Storage >	storage_

boost::shared_ptr< message_filters::Synchronizer< SyncPolicy > >	sync_

ros::ServiceServer	train_srv_

bool	use_async_

bool	use_saved_data_

Additional Inherited Members
Protected Member Functions inherited from opencv_apps::Nodelet
template<class T >
ros::Publisher	advertise (ros::NodeHandle &nh, std::string topic, int queue_size)
	Advertise a topic and watch the publisher. Publishers which are created by this method. It automatically reads latch boolean parameter from nh and publish topic with appropriate latch parameter. More...

image_transport::CameraPublisher	advertiseCamera (ros::NodeHandle &nh, const std::string &topic, int queue_size)
	Advertise an image topic camera info topic and watch the publisher. Publishers which are created by this method. It automatically reads latch boolean parameter from nh and it and publish topic with appropriate latch parameter. More...

image_transport::Publisher	advertiseImage (ros::NodeHandle &nh, const std::string &topic, int queue_size)
	Advertise an image topic and watch the publisher. Publishers which are created by this method. It automatically reads latch boolean parameter from nh and it and publish topic with appropriate latch parameter. More...

virtual void	cameraConnectionBaseCallback ()
	callback function which is called when new subscriber come for camera image publisher or camera info publisher. This function is called from cameraConnectionCallback or cameraInfoConnectionCallback. More...

virtual void	cameraConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)
	callback function which is called when new subscriber come for camera image publisher More...

virtual void	cameraInfoConnectionCallback (const ros::SingleSubscriberPublisher &pub)
	callback function which is called when new subscriber come for camera info publisher More...

virtual void	connectionCallback (const ros::SingleSubscriberPublisher &pub)
	callback function which is called when new subscriber come More...

virtual void	imageConnectionCallback (const image_transport::SingleSubscriberPublisher &pub)
	callback function which is called when new subscriber come for image publisher More...

virtual void	onInitPostProcess ()
	Post processing of initialization of nodelet. You need to call this method in order to use always_subscribe feature. More...

virtual void	warnNeverSubscribedCallback (const ros::WallTimerEvent &event)
	callback function which is called when walltimer duration run out. More...

Protected Member Functions inherited from nodelet::Nodelet
ros::CallbackQueueInterface &	getMTCallbackQueue () const

ros::NodeHandle &	getMTNodeHandle () const

ros::NodeHandle &	getMTPrivateNodeHandle () const

const V_string &	getMyArgv () const

const std::string &	getName () const

ros::NodeHandle &	getNodeHandle () const

ros::NodeHandle &	getPrivateNodeHandle () const

const M_string &	getRemappingArgs () const

ros::CallbackQueueInterface &	getSTCallbackQueue () const

std::string	getSuffixedName (const std::string &suffix) const

Protected Attributes inherited from opencv_apps::Nodelet
bool	always_subscribe_
	A flag to disable watching mechanism and always subscribe input topics. It can be specified via ~always_subscribe parameter. More...

std::vector< image_transport::CameraPublisher >	camera_publishers_
	List of watching camera publishers. More...

boost::mutex	connection_mutex_
	mutex to call subscribe() and unsubscribe() in critical section. More...

ConnectionStatus	connection_status_
	Status of connection. More...

bool	ever_subscribed_
	A flag to check if the node has been ever subscribed or not. More...

std::vector< image_transport::Publisher >	image_publishers_
	List of watching image publishers. More...

boost::shared_ptr< ros::NodeHandle >	nh_
	Shared pointer to nodehandle. More...

boost::shared_ptr< ros::NodeHandle >	pnh_
	Shared pointer to private nodehandle. More...

std::vector< ros::Publisher >	publishers_
	List of watching publishers. More...

bool	subscribed_
	A flag to check if any publisher is already subscribed or not. More...

ros::WallTimer	timer_
	WallTimer instance for warning about no connection. More...

bool	verbose_connection_
	true if `~verbose_connection` or `verbose_connection` parameter is true. More...

Detailed Description

Definition at line 316 of file face_recognition_nodelet.cpp.

Member Typedef Documentation

◆ ApproximateSyncPolicy

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, opencv_apps::FaceArrayStamped> opencv_apps::FaceRecognitionNodelet::ApproximateSyncPolicy

private

Definition at line 322 of file face_recognition_nodelet.cpp.

◆ Config

typedef opencv_apps::FaceRecognitionConfig opencv_apps::FaceRecognitionNodelet::Config

private

Definition at line 318 of file face_recognition_nodelet.cpp.

◆ Server

typedef dynamic_reconfigure::Server<Config> opencv_apps::FaceRecognitionNodelet::Server

private

Definition at line 319 of file face_recognition_nodelet.cpp.

◆ SyncPolicy

typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, opencv_apps::FaceArrayStamped> opencv_apps::FaceRecognitionNodelet::SyncPolicy

private

Definition at line 320 of file face_recognition_nodelet.cpp.

Constructor & Destructor Documentation

◆ ~FaceRecognitionNodelet()

opencv_apps::FaceRecognitionNodelet::~FaceRecognitionNodelet ( )

inline

Definition at line 674 of file face_recognition_nodelet.cpp.

Member Function Documentation

◆ configCallback()

void opencv_apps::FaceRecognitionNodelet::configCallback	(	Config &	config,
		uint32_t	level
	)

inlineprivate

Definition at line 522 of file face_recognition_nodelet.cpp.

◆ drawFace()

void opencv_apps::FaceRecognitionNodelet::drawFace	(	cv::Mat &	img,
		const opencv_apps::Face &	face
	)

inlineprivate

Definition at line 348 of file face_recognition_nodelet.cpp.

◆ extractImage() [1/2]

void opencv_apps::FaceRecognitionNodelet::extractImage	(	const cv::Mat &	img,
		const opencv_apps::Face &	face,
		cv::Mat &	ret,
		double	padding = `0.0`
	)

inlineprivate

Definition at line 379 of file face_recognition_nodelet.cpp.

◆ extractImage() [2/2]

void opencv_apps::FaceRecognitionNodelet::extractImage	(	const cv::Mat &	img,
		const opencv_apps::Rect &	rect,
		cv::Mat &	ret,
		double	padding = `0.0`
	)

inlineprivate

Definition at line 370 of file face_recognition_nodelet.cpp.

◆ faceImageCallback()

void opencv_apps::FaceRecognitionNodelet::faceImageCallback	(	const sensor_msgs::Image::ConstPtr &	image,
		const opencv_apps::FaceArrayStamped::ConstPtr &	faces
	)

inlineprivate

Definition at line 433 of file face_recognition_nodelet.cpp.

◆ onInit()

virtual void opencv_apps::FaceRecognitionNodelet::onInit ( )

inlinevirtual

Initialize nodehandles nh_ and pnh_. Subclass should call this method in its onInit method.

Reimplemented from opencv_apps::Nodelet.

Reimplemented in face_recognition::FaceRecognitionNodelet.

Definition at line 680 of file face_recognition_nodelet.cpp.

◆ predict()

void opencv_apps::FaceRecognitionNodelet::predict	(	const cv::Mat &	img,
		int &	label,
		double &	confidence
	)

inlineprivate

Definition at line 425 of file face_recognition_nodelet.cpp.

◆ retrain()

void opencv_apps::FaceRecognitionNodelet::retrain ( )

inlineprivate

Definition at line 384 of file face_recognition_nodelet.cpp.

◆ subscribe()

void opencv_apps::FaceRecognitionNodelet::subscribe ( )

inlineprivatevirtual

This method is called when publisher is subscribed by other nodes. Set up subscribers in this method.

Implements opencv_apps::Nodelet.

Definition at line 645 of file face_recognition_nodelet.cpp.

◆ train()

void opencv_apps::FaceRecognitionNodelet::train	(	std::vector< cv::Mat > &	images,
		std::vector< std::string > &	labels
	)

inlineprivate

Definition at line 392 of file face_recognition_nodelet.cpp.

◆ trainCallback()

bool opencv_apps::FaceRecognitionNodelet::trainCallback	(	opencv_apps::FaceRecognitionTrain::Request &	req,
		opencv_apps::FaceRecognitionTrain::Response &	res
	)