#include <face_capture_node.h>

Public Member Functions
	FaceCaptureNode (ros::NodeHandle nh)
	~FaceCaptureNode ()
Protected Types
enum	CaptureMode { MANUAL = 0, CONTINUOUS }
enum	UpdateMode { BY_INDEX = 1, BY_LABEL }
Protected Member Functions
void	addDataServerCallback (const cob_people_detection::addDataGoalConstPtr &goal)
bool	captureImageCallback (cob_people_detection::captureImage::Request &req, cob_people_detection::captureImage::Response &res)
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	convertDepthImageMessageToMat (const sensor_msgs::Image::ConstPtr &image_msg, cv_bridge::CvImageConstPtr &image_ptr, cv::Mat &image)
	Converts a depth image message to cv::Mat format.
void	deleteDataServerCallback (const cob_people_detection::deleteDataGoalConstPtr &goal)
bool	finishRecordingCallback (cob_people_detection::finishRecording::Request &req, cob_people_detection::finishRecording::Response &res)
void	inputCallback (const cob_perception_msgs::ColorDepthImageArray::ConstPtr &face_detection_msg)
	checks the detected faces from the input topic against the people segmentation and outputs faces if both are positive
void	updateDataServerCallback (const cob_people_detection::updateDataGoalConstPtr &goal)
Protected Attributes
boost::mutex	active_action_mutex_
	facilitates that only one action server can be active at the same time
AddDataServer *	add_data_server_
	Action server that handles add data requests.
bool	capture_image_
image_transport::SubscriberFilter	color_image_sub_
	Color camera image topic.
std::string	current_label_
	Label of currently captured images.
std::string	data_directory_
	path to the classifier model
DeleteDataServer *	delete_data_server_
	Action server that handles delete data requests.
std::vector< cv::Mat >	face_depthmaps_
	Vector of face depthmaps.
message_filters::Subscriber < cob_perception_msgs::ColorDepthImageArray >	face_detection_subscriber_
	receives the face messages from the face detector
std::vector< cv::Mat >	face_images_
	Vector of face images.
FaceRecognizer	face_recognizer_trainer_
bool	finish_image_capture_
image_transport::ImageTransport *	it_
ros::NodeHandle	node_handle_
	ROS node handle.
int	number_captured_images_
ros::ServiceServer	service_server_capture_image_
	Service server that triggers an image recording.
ros::ServiceServer	service_server_finish_recording_
	Service server that finishes image recording.
message_filters::Synchronizer < message_filters::sync_policies::ApproximateTime < cob_perception_msgs::ColorDepthImageArray, sensor_msgs::Image > > *	sync_input_2_
UpdateDataServer *	update_data_server_
	Action server that handles update data requests.

Detailed Description

Definition at line 116 of file face_capture_node.h.

Member Enumeration Documentation

enum ipa_PeopleDetector::FaceCaptureNode::CaptureMode [protected]

Enumerator:

MANUAL
CONTINUOUS

Definition at line 133 of file face_capture_node.h.

enum ipa_PeopleDetector::FaceCaptureNode::UpdateMode [protected]

Enumerator:

BY_INDEX
BY_LABEL

Definition at line 137 of file face_capture_node.h.

Constructor & Destructor Documentation

FaceCaptureNode::FaceCaptureNode ( ros::NodeHandle nh )

Definition at line 67 of file face_capture_node.cpp.

FaceCaptureNode::~FaceCaptureNode ( )

Definition at line 130 of file face_capture_node.cpp.

Member Function Documentation

void FaceCaptureNode::addDataServerCallback ( const cob_people_detection::addDataGoalConstPtr & goal ) [protected]

Definition at line 139 of file face_capture_node.cpp.

bool FaceCaptureNode::captureImageCallback	(	cob_people_detection::captureImage::Request &	req,
		cob_people_detection::captureImage::Response &	res
	)		`[protected]`

Definition at line 310 of file face_capture_node.cpp.

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

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

Definition at line 277 of file face_capture_node.cpp.

unsigned long FaceCaptureNode::convertDepthImageMessageToMat	(	const sensor_msgs::Image::ConstPtr &	image_msg,
		cv_bridge::CvImageConstPtr &	image_ptr,
		cv::Mat &	image
	)		`[protected]`

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

Definition at line 294 of file face_capture_node.cpp.

void FaceCaptureNode::deleteDataServerCallback ( const cob_people_detection::deleteDataGoalConstPtr & goal ) [protected]

Definition at line 358 of file face_capture_node.cpp.

bool FaceCaptureNode::finishRecordingCallback	(	cob_people_detection::finishRecording::Request &	req,
		cob_people_detection::finishRecording::Response &	res
	)		`[protected]`