ipa_PeopleDetector::PeopleDetectorControlFlow Class Reference

Long description. More...

#include <PeopleDetectorControlFlow.h>

Public Member Functions
unsigned long	AddFace (cv::Mat &image, std::string id)
unsigned long	DetectFaces (ipa_SensorFusion::ColoredPointCloudPtr pc)
unsigned long	GetEigenface (cv::Mat &eigenface, int index)
ColoredPointCloudToolbox::t_PointCloudMode	GetPCMode ()
unsigned long	Init (std::string directory, ipa_CameraSensors::AbstractColorCameraPtr colorCamera0=0, ipa_CameraSensors::AbstractColorCameraPtr colorCamera1=0, ipa_CameraSensors::AbstractRangeImagingSensorPtr *rangeImagingSensor=0)
unsigned long	LoadParameters (const char *iniFileName)
unsigned long	LoadTrainingData ()
unsigned long	PCA ()
	PeopleDetectorControlFlow (void)
	Constructor.
unsigned long	RecognizeFace (ipa_SensorFusion::ColoredPointCloudPtr pc, std::vector< int > &index)
unsigned long	SaveRangeTrainImages (ipa_SensorFusion::ColoredPointCloudPtr pc)
unsigned long	SaveTrainingData ()
unsigned long	ShowAVGImage (cv::Mat &avgImage)
	~PeopleDetectorControlFlow (void)
	Destructor.
Public Attributes
cv::Mat	m_avgImage
	Trained average Image.
std::vector< cv::Rect >	m_colorFaces
	Vector with detected faces.
cv::Mat	m_eigenValMat
	Eigenvalues.
std::vector< cv::Mat >	m_eigenVectors
	Eigenvectors.
cv::Mat	m_faceClassAvgProjections
	The average factors of the eigenvector decomposition from each face class.
std::vector< cv::Mat >	m_faceImages
	Trained face images.
std::vector< std::string >	m_id
	Id of learned faces.
std::vector< std::string >	m_idUnique
	A vector containing all different Ids from the training session exactly once (m_idUnique[i] stores the corresponding id to the average face coordinates in the face subspace in m_faceClassAvgProjections.row(i)).
int	m_nEigens
	Number of eigenvalues.
int	m_OpenGL
	1, if OpenGL viewer is used to vizualise point cloud
ipa_SensorFusion::ColoredPointCloudToolbox *	m_pcToolbox
PeopleDetector *	m_PeopleDetector
cv::Mat	m_projectedTrainFaceMat
	Projected training faces (coefficients for the eigenvectors of the face subspace).
int	m_RangeCamIterations
	One median image is created out of all images.
std::vector< cv::Rect >	m_rangeFaces
	Vector with detected rangeFaces.
int	m_threshold
	Threshold to detect unknown faces.
int	m_threshold_FS
	Threshold to facespace.
Private Attributes
ipa_CameraSensors::AbstractColorCamera *	m_ColorCamera0
ipa_CameraSensors::AbstractColorCamera *	m_ColorCamera1
ipa_CameraSensors::CameraSensorToolbox *	m_ColorSensor0Toolbox
	Camera toolbox.
ipa_CameraSensors::CameraSensorToolbox *	m_ColorSensor1Toolbox
	Camera toolbox.
int	m_filname
ipa_CameraSensors::AbstractRangeImagingSensor *	m_RangeImagingSensor
int	m_rangeSensorHeight
ipa_CameraSensors::CameraSensorToolbox *	m_RangeSensorToolbox
	Camera toolbox.
int	m_rangeSensorWidth
bool	m_runPCA

Detailed Description

Long description.

Definition at line 36 of file PeopleDetectorControlFlow.h.

Constructor & Destructor Documentation

PeopleDetectorControlFlow::PeopleDetectorControlFlow ( void )

Constructor.

Constructor

Definition at line 13 of file PeopleDetectorControlFlow.cpp.

PeopleDetectorControlFlow::~PeopleDetectorControlFlow ( void )

Destructor.

Definition at line 19 of file PeopleDetectorControlFlow.cpp.

Member Function Documentation

unsigned long PeopleDetectorControlFlow::AddFace	(	cv::Mat &	image,
		std::string	id
	)

Function to add a new face

Parameters:

	image	ColorImage
	id	Id of the new face

Returns:: Return code

Definition at line 75 of file PeopleDetectorControlFlow.cpp.

unsigned long PeopleDetectorControlFlow::DetectFaces ( ipa_SensorFusion::ColoredPointCloudPtr pc )

Function to detect and verify faces

Parameters:

pc

ColoredPointClowed with images

Returns:: Return code

Definition at line 59 of file PeopleDetectorControlFlow.cpp.

unsigned long PeopleDetectorControlFlow::GetEigenface	(	cv::Mat &	eigenface,
		int	index
	)

Function to show the eigenfaces. Only for debugging and development

Parameters:

	eigenface	Eigenface
	index	Index of the eigenface

Returns:: Return code.

Definition at line 333 of file PeopleDetectorControlFlow.cpp.

ColoredPointCloudToolbox::t_PointCloudMode ipa_PeopleDetector::PeopleDetectorControlFlow::GetPCMode ( ) [inline]

Returns the point cloud mode which was loaded from the .xml file

Returns:: point cloud mode

Definition at line 109 of file PeopleDetectorControlFlow.h.

unsigned long PeopleDetectorControlFlow::Init	(	std::string	directory,
		ipa_CameraSensors::AbstractColorCameraPtr *	colorCamera0 = `0`,
		ipa_CameraSensors::AbstractColorCameraPtr *	colorCamera1 = `0`,
		ipa_CameraSensors::AbstractRangeImagingSensorPtr *	rangeImagingSensor = `0`
	)

Initialization function. Creates an instance of a range imaging sensor (i.e. SwissRanger SR-3000) and an instance of a color Camera (i.e. Imaging Source camera i.e. DBK 31AF03).

Parameters:

	directory	Directory of camera sensors initialization file.
	colorCamera0	First color camera instance.
	colorCamera1	Second color camera instance.
	rangeImagingSensor	Range imaging sensor instance.

Returns:: Return code

Definition at line 23 of file PeopleDetectorControlFlow.cpp.

unsigned long PeopleDetectorControlFlow::LoadParameters ( const char * iniFileName )

Function to load Parameters from Configuration File

Parameters:

iniFileName

Filename of the Configuration File

Returns:: Return code.

Load parameters from file

Definition at line 444 of file PeopleDetectorControlFlow.cpp.

unsigned long PeopleDetectorControlFlow::LoadTrainingData ( )

Function to load the training data

Returns:: Return code.

Definition at line 231 of file PeopleDetectorControlFlow.cpp.

unsigned long PeopleDetectorControlFlow::PCA ( )

Function to Run the PCA algorithm and project the training images to the PCA subspace

Returns:: Return code

Definition at line 89 of file PeopleDetectorControlFlow.cpp.

unsigned long PeopleDetectorControlFlow::RecognizeFace	(	ipa_SensorFusion::ColoredPointCloudPtr	pc,
		std::vector< int > &	index
	)

Function to Recognize faces The function recognize the faces

Parameters:

	pc	ColoredPointClowed with images
	index	Index of classified facespace in vector

Returns:: Return code

Definition at line 130 of file PeopleDetectorControlFlow.cpp.

unsigned long PeopleDetectorControlFlow::SaveRangeTrainImages ( ipa_SensorFusion::ColoredPointCloudPtr pc )

Function to extract images for training range classifier

Parameters:

pc

ColoredPointCloud with images

Returns:: Return code.

Definition at line 412 of file PeopleDetectorControlFlow.cpp.

unsigned long PeopleDetectorControlFlow::SaveTrainingData ( )

Function to save the training data

Returns:: Return code.

Definition at line 142 of file PeopleDetectorControlFlow.cpp.

unsigned long PeopleDetectorControlFlow::ShowAVGImage ( cv::Mat & avgImage )

Function to show the average image of all trained images

Parameters:

avgImage

The average image

Returns:: Return code.

Definition at line 368 of file PeopleDetectorControlFlow.cpp.

Member Data Documentation

cv::Mat ipa_PeopleDetector::PeopleDetectorControlFlow::m_avgImage

Trained average Image.

Definition at line 120 of file PeopleDetectorControlFlow.h.

ipa_CameraSensors::AbstractColorCamera* ipa_PeopleDetector::PeopleDetectorControlFlow::m_ColorCamera0 [private]

Definition at line 137 of file PeopleDetectorControlFlow.h.

ipa_CameraSensors::AbstractColorCamera* ipa_PeopleDetector::PeopleDetectorControlFlow::m_ColorCamera1 [private]

Definition at line 138 of file PeopleDetectorControlFlow.h.

std::vector<cv::Rect> ipa_PeopleDetector::PeopleDetectorControlFlow::m_colorFaces

Vector with detected faces.

Definition at line 127 of file PeopleDetectorControlFlow.h.

ipa_CameraSensors::CameraSensorToolbox* ipa_PeopleDetector::PeopleDetectorControlFlow::m_ColorSensor0Toolbox [private]

Camera toolbox.

Definition at line 141 of file PeopleDetectorControlFlow.h.

ipa_CameraSensors::CameraSensorToolbox* ipa_PeopleDetector::PeopleDetectorControlFlow::m_ColorSensor1Toolbox [private]

Camera toolbox.

Definition at line 142 of file PeopleDetectorControlFlow.h.

cv::Mat ipa_PeopleDetector::PeopleDetectorControlFlow::m_eigenValMat

Eigenvalues.

Definition at line 119 of file PeopleDetectorControlFlow.h.

std::vector<cv::Mat> ipa_PeopleDetector::PeopleDetectorControlFlow::m_eigenVectors

Eigenvectors.

Definition at line 118 of file PeopleDetectorControlFlow.h.

cv::Mat ipa_PeopleDetector::PeopleDetectorControlFlow::m_faceClassAvgProjections

The average factors of the eigenvector decomposition from each face class.

Definition at line 122 of file PeopleDetectorControlFlow.h.

std::vector<cv::Mat> ipa_PeopleDetector::PeopleDetectorControlFlow::m_faceImages

Trained face images.

Definition at line 113 of file PeopleDetectorControlFlow.h.

int ipa_PeopleDetector::PeopleDetectorControlFlow::m_filname [private]

Definition at line 146 of file PeopleDetectorControlFlow.h.

std::vector<std::string> ipa_PeopleDetector::PeopleDetectorControlFlow::m_id

Id of learned faces.

Definition at line 114 of file PeopleDetectorControlFlow.h.

std::vector<std::string> ipa_PeopleDetector::PeopleDetectorControlFlow::m_idUnique

A vector containing all different Ids from the training session exactly once (m_idUnique[i] stores the corresponding id to the average face coordinates in the face subspace in m_faceClassAvgProjections.row(i)).

Definition at line 115 of file PeopleDetectorControlFlow.h.

int ipa_PeopleDetector::PeopleDetectorControlFlow::m_nEigens

Number of eigenvalues.

Definition at line 117 of file PeopleDetectorControlFlow.h.

int ipa_PeopleDetector::PeopleDetectorControlFlow::m_OpenGL

1, if OpenGL viewer is used to vizualise point cloud

Definition at line 130 of file PeopleDetectorControlFlow.h.

ipa_SensorFusion::ColoredPointCloudToolbox* ipa_PeopleDetector::PeopleDetectorControlFlow::m_pcToolbox

Definition at line 109 of file PeopleDetectorControlFlow.h.

PeopleDetector* ipa_PeopleDetector::PeopleDetectorControlFlow::m_PeopleDetector

Definition at line 124 of file PeopleDetectorControlFlow.h.

cv::Mat ipa_PeopleDetector::PeopleDetectorControlFlow::m_projectedTrainFaceMat