Classes | Public Types | Public Member Functions | Public Attributes | Private Member Functions
people::FaceDetector Class Reference

List of all members.

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.
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.
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_
string camera_
string camera_info_topic_
string camera_topic_
ros::Publisher cloud_pub_
boost::mutex connect_mutex_
cv::Mat cv_image_out_
boost::mutex cv_mutex_
string depth_image_
image_transport::SubscriberFilter depth_image_sub_
string depth_info_topic_
string depth_ns_
string depth_topic_
boost::mutex dimage_mutex_
message_filters::Subscriber
< stereo_msgs::DisparityImage > 
disp_image_sub_
string disparity_topic_
bool do_continuous_
bool do_display_
bool do_publish_unknown_
boost::shared_ptr< ExactDepthSyncexact_depth_sync_
boost::shared_ptr< ExactDispSyncexact_disp_sync_
bool external_init_
Facesfaces_
face_detector::FaceDetectorFeedback feedback_
std::string fixed_frame_
string haar_filename_
string image_image_
image_transport::SubscriberFilter image_sub_
image_transport::ImageTransport it_
string left_camera_info_topic_
string left_topic_
boost::mutex limage_mutex_
int max_id_
string name_
ros::NodeHandle nh_
ros::Publisher pos_array_pub_
map< string,
RestampedPositionMeasurement
pos_list_
boost::mutex pos_mutex_
ros::Subscriber pos_sub_
bool quit_
double reliability_
face_detector::FaceDetectorResult result_
string right_camera_info_topic_
string stereo_namespace_
tf::TransformListener tf_
bool use_depth_
bool use_rgbd_

Private Member Functions

void displayFacesOnImage (vector< Box2D3D > faces_vector)
void matchAndDisplay (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 83 of file face_detection.cpp.


Member Typedef Documentation

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 129 of file face_detection.cpp.

Definition at line 131 of file face_detection.cpp.

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 121 of file face_detection.cpp.

Definition at line 123 of file face_detection.cpp.

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 128 of file face_detection.cpp.

Definition at line 130 of file face_detection.cpp.

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 120 of file face_detection.cpp.

Definition at line 122 of file face_detection.cpp.


Constructor & Destructor Documentation

people::FaceDetector::FaceDetector ( std::string  name) [inline]

Definition at line 188 of file face_detection.cpp.

Definition at line 315 of file face_detection.cpp.


Member Function Documentation

Definition at line 328 of file face_detection.cpp.

void people::FaceDetector::displayFacesOnImage ( vector< Box2D3D faces_vector) [inline, private]

Definition at line 704 of file face_detection.cpp.

void people::FaceDetector::goalCB ( ) [inline]

Definition at line 382 of file face_detection.cpp.

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 434 of file face_detection.cpp.

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 486 of file face_detection.cpp.

void people::FaceDetector::matchAndDisplay ( vector< Box2D3D faces_vector,
std_msgs::Header  header 
) [inline, private]

Definition at line 527 of file face_detection.cpp.

Definition at line 386 of file face_detection.cpp.


Member Data Documentation

Definition at line 133 of file face_detection.cpp.

Definition at line 125 of file face_detection.cpp.

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

Definition at line 136 of file face_detection.cpp.

Definition at line 86 of file face_detection.cpp.

Left/rgb camera info msg.

Definition at line 116 of file face_detection.cpp.

Right/depth camera info msg.

Definition at line 117 of file face_detection.cpp.

ROS->OpenCV image_geometry conversion.

Definition at line 159 of file face_detection.cpp.

Definition at line 103 of file face_detection.cpp.

Definition at line 107 of file face_detection.cpp.

Definition at line 104 of file face_detection.cpp.

Definition at line 150 of file face_detection.cpp.

Definition at line 91 of file face_detection.cpp.

Display image.

Definition at line 155 of file face_detection.cpp.

Definition at line 182 of file face_detection.cpp.

Definition at line 105 of file face_detection.cpp.

Definition at line 114 of file face_detection.cpp.

Definition at line 108 of file face_detection.cpp.

Definition at line 109 of file face_detection.cpp.

Definition at line 106 of file face_detection.cpp.

Definition at line 182 of file face_detection.cpp.

Depth image msg. Disparity image msg.

Definition at line 115 of file face_detection.cpp.

Definition at line 99 of file face_detection.cpp.

True = run as a normal node, searching for faces continuously, False = run as an action, wait for action call to start detection.

Definition at line 184 of file face_detection.cpp.

True/false display images with bounding boxes locally.

Definition at line 154 of file face_detection.cpp.

Publish faces even if they have unknown depth/size. Will just use the image x,y in the pos field of the published position_measurement.

Definition at line 186 of file face_detection.cpp.

Definition at line 132 of file face_detection.cpp.

Definition at line 124 of file face_detection.cpp.

Definition at line 143 of file face_detection.cpp.

List of faces and associated fcns.

Definition at line 162 of file face_detection.cpp.

face_detector::FaceDetectorFeedback people::FaceDetector::feedback_

Definition at line 137 of file face_detection.cpp.

Definition at line 180 of file face_detection.cpp.

Training file for the haar cascade classifier.

Definition at line 164 of file face_detection.cpp.

Definition at line 95 of file face_detection.cpp.

Left/rgb image msg.

Definition at line 113 of file face_detection.cpp.

Definition at line 112 of file face_detection.cpp.

Definition at line 100 of file face_detection.cpp.

Definition at line 98 of file face_detection.cpp.

Definition at line 182 of file face_detection.cpp.

Definition at line 174 of file face_detection.cpp.

Name of the detector. Ie frontalface, profileface. These will be the names in the published face location msgs.

Definition at line 163 of file face_detection.cpp.

Definition at line 89 of file face_detection.cpp.

Definition at line 151 of file face_detection.cpp.

Queue of updated face positions from the filter.

Definition at line 172 of file face_detection.cpp.

Definition at line 182 of file face_detection.cpp.

Definition at line 142 of file face_detection.cpp.

Definition at line 176 of file face_detection.cpp.

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

Definition at line 165 of file face_detection.cpp.

face_detector::FaceDetectorResult people::FaceDetector::result_

Definition at line 138 of file face_detection.cpp.

Definition at line 101 of file face_detection.cpp.

Definition at line 97 of file face_detection.cpp.

Definition at line 178 of file face_detection.cpp.

True/false use depth information.

Definition at line 158 of file face_detection.cpp.

Definition at line 92 of file face_detection.cpp.


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


face_detector
Author(s): Caroline Pantofaru
autogenerated on Thu Aug 27 2015 14:18:13