Public Member Functions
	FaceRecognizerNode (ros::NodeHandle nh)
	~FaceRecognizerNode (void)
	Destructor.
Protected Member Functions
bool	determine3DFaceCoordinates (cv::Mat &depth_image, int center2Dx, int center2Dy, geometry_msgs::Point &center3D, int search_radius)
void	facePositionsCallback (const cob_perception_msgs::ColorDepthImageArray::ConstPtr &face_positions)
	Callback for incoming head detections.
void	loadModelServerCallback (const cob_people_detection::loadModelGoalConstPtr &goal)
	Callback for load requests to load a new recognition model.
Protected Attributes
std::string	classifier_directory_
	path to the face feature haarcascades
std::string	data_directory_
	path to the classifier model
bool	display_timing_
bool	enable_face_recognition_
	this flag enables or disables the face recognition step
ros::Subscriber	face_position_subscriber_
	subscribes to the positions of detected face regions
ros::Publisher	face_recognition_publisher_
	publisher for the positions and labels of the detected faces
FaceRecognizer	face_recognizer_
	implementation of the face recognizer
LoadModelServer *	load_model_server_
	Action server that handles load requests for a new recognition model.
ros::NodeHandle	node_handle_

Detailed Description

Definition at line 91 of file face_recognizer_node.h.

Constructor & Destructor Documentation

FaceRecognizerNode::FaceRecognizerNode ( ros::NodeHandle nh )

Constructor

Parameters:

nh	ROS node handle

Definition at line 80 of file face_recognizer_node.cpp.

FaceRecognizerNode::~FaceRecognizerNode ( void )

Destructor.

Definition at line 178 of file face_recognizer_node.cpp.

bool FaceRecognizerNode::determine3DFaceCoordinates	(	cv::Mat &	depth_image,
		int	center2Dx,
		int	center2Dy,
		geometry_msgs::Point &	center3D,
		int	search_radius
	)		`[protected]`

Computes the 3D coordinate of a detected face.

Parameters:

depth_image	Coordinate image in format CV32FC3
center2Dx	Image x-coordinate of the center of the detected face
center2Dy	Image y-coordinate of the center of the detected face
center3D	(x,y,z) coordinates of the face's center point
search_radius	Radius of pixel neighborhood which is searched for valid 3D coordinates.