Inheritance diagram for ipa_PeopleDetector::CobPeopleDetectionNodelet:

Public Member Functions
double	abs (double x)
	CobPeopleDetectionNodelet ()
double	computeFacePositionDistance (const cob_perception_msgs::Detection &previous_detection, const cob_perception_msgs::Detection &current_detection)
unsigned long	convertColorImageMessageToMat (const sensor_msgs::Image::ConstPtr &image_msg, cv_bridge::CvImageConstPtr &image_ptr, cv::Mat &image)
	Converts a color image message to cv::Mat format.
unsigned long	copyDetection (const cob_perception_msgs::Detection &src, cob_perception_msgs::Detection &dest, bool update=false, unsigned int updateIndex=UINT_MAX)
bool	detectPeopleCallback (cob_people_detection::DetectPeople::Request &req, cob_people_detection::DetectPeople::Response &res)
void	inputCallback (const cob_perception_msgs::DetectionArray::ConstPtr &face_position_msg_in, const sensor_msgs::Image::ConstPtr &people_segmentation_image_msg, const sensor_msgs::Image::ConstPtr &color_image_msg)
	checks the detected faces from the input topic against the people segmentation and outputs faces if both are positive
void	onInit ()
	Nodelet init function.
unsigned long	prepareFacePositionMessage (cob_perception_msgs::DetectionArray &face_position_msg_out)
unsigned long	removeMultipleInstancesOfLabel ()
	~CobPeopleDetectionNodelet ()
Protected Attributes
image_transport::SubscriberFilter	color_image_sub_
	Color camera image topic.
bool	display_
	if on, several debug outputs are activated
double	face_identification_score_decay_rate_
	face identification score decay rate (0 < x < 1), i.e. the score for each label at a certain detection location is multiplied by this factor
std::vector< std::map < std::string, double > >	face_identification_votes_
	collects votes for all names (map index) ever assigned to each detection (vector index) in face_position_accumulator_
std::vector < cob_perception_msgs::Detection >	face_position_accumulator_
	accumulates face positions over time
boost::timed_mutex	face_position_accumulator_mutex_
	secures write and read operations to face_position_accumulator_
ros::Publisher	face_position_publisher_
	publisher for the positions of the detected faces
message_filters::Subscriber < cob_perception_msgs::DetectionArray >	face_position_subscriber_
	receives the face messages from the face detector
double	face_redetection_time_
	timespan during which a face is preserved in the list of tracked faces although it is currently not visible
bool	fall_back_to_unknown_identification_
	if this is true, the unknown label will be assigned for the identification of a person if it has the highest score, otherwise, the last detection of a name will display as label even if there has been a detection of Unknown recently for that face
image_transport::ImageTransport *	it_
double	min_face_identification_score_to_publish_
	minimum face identification score to publish (0 <= x < max_score), i.e. this score must be exceeded by a label at a detection location before the person detection is published (higher values increase robustness against short misdetections, but consider the maximum possible score max_score w.r.t. the face_identification_score_decay_rate: new_score = (old_score+1)*face_identification_score_decay_rate --> max_score = face_identification_score_decay_rate/(1-face_identification_score_decay_rate))
double	min_segmented_people_ratio_color_
	the minimum area inside the face rectangle found in the color image that has to be covered with positive people segmentation results (from openni_tracker)
double	min_segmented_people_ratio_range_
	the minimum area inside the face rectangle found in the range image that has to be covered with positive people segmentation results (from openni_tracker)
ros::NodeHandle	node_handle_
	ROS node handle.
image_transport::Publisher	people_detection_image_pub_
	topic for publishing the image containing the people positions
image_transport::SubscriberFilter	people_segmentation_image_sub_
	Color camera image topic.
ros::ServiceServer	service_server_detect_people_
	Service server to request people detection.
message_filters::Synchronizer < message_filters::sync_policies::ApproximateTime < cob_perception_msgs::DetectionArray, sensor_msgs::Image > > *	sync_input_2_
message_filters::Synchronizer < message_filters::sync_policies::ApproximateTime < cob_perception_msgs::DetectionArray, sensor_msgs::Image, sensor_msgs::Image > > *	sync_input_3_
double	tracking_range_m_
	maximum tracking manhattan distance for a face (in meters), i.e. a face can move this distance between two images and can still be tracked
bool	use_people_segmentation_
	enables the combination of face detections with the openni people segmentation

Detailed Description

Definition at line 114 of file people_detection.cpp.

Constructor & Destructor Documentation

ipa_PeopleDetector::CobPeopleDetectionNodelet::CobPeopleDetectionNodelet ( ) [inline]

Definition at line 149 of file people_detection.cpp.

ipa_PeopleDetector::CobPeopleDetectionNodelet::~CobPeopleDetectionNodelet ( ) [inline]

Definition at line 156 of file people_detection.cpp.

Member Function Documentation

double ipa_PeopleDetector::CobPeopleDetectionNodelet::abs ( double x ) [inline]

Definition at line 339 of file people_detection.cpp.

double ipa_PeopleDetector::CobPeopleDetectionNodelet::computeFacePositionDistance	(	const cob_perception_msgs::Detection &	previous_detection,
		const cob_perception_msgs::Detection &	current_detection
	)		`[inline]`

Computes the Euclidian distance of a recent faces detection to a current face detection. If the current face detection is outside the neighborhood of the previous detection, DBL_MAX is returned.

Returns:: The Euclidian distance of both faces or DBL_MAX.

Definition at line 347 of file people_detection.cpp.

unsigned long ipa_PeopleDetector::CobPeopleDetectionNodelet::convertColorImageMessageToMat	(	const sensor_msgs::Image::ConstPtr &	image_msg,
		cv_bridge::CvImageConstPtr &	image_ptr,
		cv::Mat &	image
	)		`[inline]`

Converts a color image message to cv::Mat format.

Definition at line 246 of file people_detection.cpp.

unsigned long ipa_PeopleDetector::CobPeopleDetectionNodelet::copyDetection	(	const cob_perception_msgs::Detection &	src,
		cob_perception_msgs::Detection &	dest,
		bool	update = `false`,
		unsigned int	updateIndex = `UINT_MAX`
	)		`[inline]`

Copies the data from src to dest.

Parameters:

src	The new data which shall be copied into dest
dst	The new data src is copied into dest
update	If update is true, dest must contain the data which shall be updated
updateIndex	The index in face_identification_votes_ corresponding to the previous detection dest. Only necessary if update is true.

Returns:: Return code.

Definition at line 267 of file people_detection.cpp.

bool ipa_PeopleDetector::CobPeopleDetectionNodelet::detectPeopleCallback	(	cob_people_detection::DetectPeople::Request &	req,
		cob_people_detection::DetectPeople::Response &	res
	)		`[inline]`

Definition at line 686 of file people_detection.cpp.

void ipa_PeopleDetector::CobPeopleDetectionNodelet::inputCallback	(	const cob_perception_msgs::DetectionArray::ConstPtr &	face_position_msg_in,
		const sensor_msgs::Image::ConstPtr &	people_segmentation_image_msg,
		const sensor_msgs::Image::ConstPtr &	color_image_msg
	)		`[inline]`

checks the detected faces from the input topic against the people segmentation and outputs faces if both are positive

Definition at line 440 of file people_detection.cpp.

void ipa_PeopleDetector::CobPeopleDetectionNodelet::onInit ( ) [inline, virtual]

Nodelet init function.

Implements nodelet::Nodelet.

Definition at line 167 of file people_detection.cpp.

unsigned long ipa_PeopleDetector::CobPeopleDetectionNodelet::prepareFacePositionMessage ( cob_perception_msgs::DetectionArray & face_position_msg_out ) [inline]

Definition at line 408 of file people_detection.cpp.

unsigned long ipa_PeopleDetector::CobPeopleDetectionNodelet::removeMultipleInstancesOfLabel ( ) [inline]

Removes multiple instances of a label by renaming the detections with lower score to Unknown.

Returns:: Return code.

Definition at line 370 of file people_detection.cpp.

Member Data Documentation

image_transport::SubscriberFilter ipa_PeopleDetector::CobPeopleDetectionNodelet::color_image_sub_ [protected]

Color camera image topic.

Definition at line 120 of file people_detection.cpp.

bool ipa_PeopleDetector::CobPeopleDetectionNodelet::display_ [protected]

if on, several debug outputs are activated

Definition at line 137 of file people_detection.cpp.

double ipa_PeopleDetector::CobPeopleDetectionNodelet::face_identification_score_decay_rate_ [protected]

face identification score decay rate (0 < x < 1), i.e. the score for each label at a certain detection location is multiplied by this factor

Definition at line 143 of file people_detection.cpp.

std::vector<std::map<std::string, double> > ipa_PeopleDetector::CobPeopleDetectionNodelet::face_identification_votes_ [protected]

collects votes for all names (map index) ever assigned to each detection (vector index) in face_position_accumulator_

Definition at line 134 of file people_detection.cpp.

std::vector<cob_perception_msgs::Detection> ipa_PeopleDetector::CobPeopleDetectionNodelet::face_position_accumulator_ [protected]

accumulates face positions over time

Definition at line 132 of file people_detection.cpp.

boost::timed_mutex ipa_PeopleDetector::CobPeopleDetectionNodelet::face_position_accumulator_mutex_ [protected]

secures write and read operations to face_position_accumulator_

Definition at line 133 of file people_detection.cpp.

ros::Publisher ipa_PeopleDetector::CobPeopleDetectionNodelet::face_position_publisher_ [protected]

publisher for the positions of the detected faces

Definition at line 125 of file people_detection.cpp.

message_filters::Subscriber<cob_perception_msgs::DetectionArray> ipa_PeopleDetector::CobPeopleDetectionNodelet::face_position_subscriber_ [protected]

receives the face messages from the face detector

Definition at line 124 of file people_detection.cpp.

double ipa_PeopleDetector::CobPeopleDetectionNodelet::face_redetection_time_ [protected]

timespan during which a face is preserved in the list of tracked faces although it is currently not visible

Definition at line 139 of file people_detection.cpp.

bool ipa_PeopleDetector::CobPeopleDetectionNodelet::fall_back_to_unknown_identification_ [protected]

if this is true, the unknown label will be assigned for the identification of a person if it has the highest score, otherwise, the last detection of a name will display as label even if there has been a detection of Unknown recently for that face

Definition at line 145 of file people_detection.cpp.

image_transport::ImageTransport* ipa_PeopleDetector::CobPeopleDetectionNodelet::it_ [protected]

Definition at line 118 of file people_detection.cpp.

double ipa_PeopleDetector::CobPeopleDetectionNodelet::min_face_identification_score_to_publish_ [protected]

minimum face identification score to publish (0 <= x < max_score), i.e. this score must be exceeded by a label at a detection location before the person detection is published (higher values increase robustness against short misdetections, but consider the maximum possible score max_score w.r.t. the face_identification_score_decay_rate: new_score = (old_score+1)*face_identification_score_decay_rate --> max_score = face_identification_score_decay_rate/(1-face_identification_score_decay_rate))

Definition at line 144 of file people_detection.cpp.

double ipa_PeopleDetector::CobPeopleDetectionNodelet::min_segmented_people_ratio_color_ [protected]

the minimum area inside the face rectangle found in the color image that has to be covered with positive people segmentation results (from openni_tracker)

Definition at line 140 of file people_detection.cpp.

double ipa_PeopleDetector::CobPeopleDetectionNodelet::min_segmented_people_ratio_range_ [protected]

the minimum area inside the face rectangle found in the range image that has to be covered with positive people segmentation results (from openni_tracker)

Definition at line 141 of file people_detection.cpp.

ros::NodeHandle ipa_PeopleDetector::CobPeopleDetectionNodelet::node_handle_ [protected]

ROS node handle.

Definition at line 130 of file people_detection.cpp.

image_transport::Publisher ipa_PeopleDetector::CobPeopleDetectionNodelet::people_detection_image_pub_ [protected]

topic for publishing the image containing the people positions

Definition at line 126 of file people_detection.cpp.

image_transport::SubscriberFilter ipa_PeopleDetector::CobPeopleDetectionNodelet::people_segmentation_image_sub_ [protected]

Color camera image topic.

Definition at line 119 of file people_detection.cpp.

ros::ServiceServer ipa_PeopleDetector::CobPeopleDetectionNodelet::service_server_detect_people_ [protected]

Service server to request people detection.