mrpt::detectors::CFaceDetection Class Reference

Detailed Description

Specific class for face detection.

Methods and variables labeled as experimentals are temporals (for debug or testing purposes) and may disappear in future versions.

Definition at line 56 of file CFaceDetection.h.

#include <mrpt/detectors/CFaceDetection.h>

Inheritance diagram for mrpt::detectors::CFaceDetection:

Classes
struct	TMeasurement
struct	TOptions
struct	TTestsOptions

Public Member Functions
	CFaceDetection ()
	~CFaceDetection ()
virtual void	init (const mrpt::utils::CConfigFileBase &cfg)
	Initialize the object with parameters loaded from the given config source.
virtual void	detectObjects_Impl (const CObservation *obs, vector_detectable_object &detected)
void	experimental_showMeasurements ()
void	debug_returnResults (const vector_uint &falsePositives, const vector_uint &ignore, unsigned int &falsePositivesDeleted, unsigned int &realFacesDeleted)
void	init (const std::string &configFile)
	Initialize the object with parameters loaded from the given config file.
void	detectObjects (const CObservationPtr obs, vector_detectable_object &detected)
void	detectObjects (const CObservation *obs, vector_detectable_object &detected)
void	detectObjects (const CImage *img, vector_detectable_object &detected)

Public Attributes
CCascadeClassifierDetection	cascadeClassifier
struct mrpt::detectors::CFaceDetection::TOptions	m_options
struct mrpt::detectors::CFaceDetection::TTestsOptions	m_testsOptions

Private Member Functions
bool	checkIfFacePlane (CObservation3DRangeScan *face)
bool	checkIfFacePlaneCov (CObservation3DRangeScan *face)
void	thread_checkIfFacePlaneCov ()
bool	checkIfFaceRegions (CObservation3DRangeScan *face)
void	thread_checkIfFaceRegions ()
size_t	checkRelativePosition (const TPoint3D &p1, const TPoint3D &p2, const TPoint3D &p, double &dist)
void	thread_checkIfDiagonalSurface ()
bool	checkIfDiagonalSurface (CObservation3DRangeScan *face)
bool	checkIfDiagonalSurface2 (CObservation3DRangeScan *face)
void	experimental_viewFacePointsScanned (const std::vector< float > &xs, const std::vector< float > &ys, const std::vector< float > &zs)
void	experimental_viewFacePointsScanned (const CObservation3DRangeScan &face)
void	experimental_viewFacePointsScanned (const std::vector< TPoint3D > &points)
void	experimental_viewFacePointsAndEigenVects (const std::vector< CArrayDouble< 3 > > &pointsVector, const CMatrixDouble &eigenVect, const vector_double &eigenVal)
void	experimental_viewRegions (const std::vector< TPoint3D > regions[9], const TPoint3D meanPos[3][3])
void	experimental_segmentFace (const CObservation3DRangeScan &face, CMatrixTemplate< bool > &region)
void	experimental_calcHist (const CImage &face, const size_t &c1, const size_t &r1, const size_t &c2, const size_t &r2, CMatrixTemplate< unsigned int > &hist)

Static Private Member Functions
static void	dummy_checkIfFacePlaneCov (CFaceDetection *obj)
static void	dummy_checkIfFaceRegions (CFaceDetection *obj)
static void	dummy_checkIfDiagonalSurface (CFaceDetection *obj)

Private Attributes
TThreadHandle	m_thread_checkIfFaceRegions
	Thread that execute checkIfFaceRegions filter.
TThreadHandle	m_thread_checkIfFacePlaneCov
	Thread that execute checkIfFacePlaneCov filter.
TThreadHandle	m_thread_checkIfDiagonalSurface
	Thread that execute checkIfDiagonalSurface filter.
bool	m_checkIfFaceRegions_res
	Save result of checkIfFaceRegions filter.
bool	m_checkIfFacePlaneCov_res
	Save result of checkIfFacePlaneCov filter.
bool	m_checkIfDiagonalSurface_res
	Save result of checkIfDiagonalSurface filter.
bool	m_end_threads
	Indicates to all threads that must finish their execution.
CSemaphore	m_enter_checkIfFaceRegions
	Indicates to thread_checkIfFaceRegions that exist a new face to analyze.
CSemaphore	m_enter_checkIfFacePlaneCov
	Indicates to thread_checkIfFacePlaneCov that exist a new face to analyze.
CSemaphore	m_enter_checkIfDiagonalSurface
	Indicates to thread_checkIfDiagonalSurface that exist a new face to analyze.
CSemaphore	m_leave_checkIfFaceRegions
	Indicates to main thread that thread_checkIfFaceRegions has been completed analisis of the last face detected.
CSemaphore	m_leave_checkIfFacePlaneCov
	Indicates to main thread that thread_checkIfFacePlaneCov has been completed analisis of the last face detected.
CSemaphore	m_leave_checkIfDiagonalSurface
	Indicates to main thread that thread_checkIfDiagonalSurface has been completed analisis of the last face detected.
CObservation3DRangeScan	m_lastFaceDetected
	Last face detected.
struct mrpt::detectors::CFaceDetection::TMeasurement	m_measure
CTimeLogger	m_timeLog
std::vector< double >	m_meanHist

Constructor & Destructor Documentation

mrpt::detectors::CFaceDetection::CFaceDetection

(

)

mrpt::detectors::CFaceDetection::~CFaceDetection

(

)

Member Function Documentation

bool mrpt::detectors::CFaceDetection::checkIfDiagonalSurface ( CObservation3DRangeScan *  face )

private

bool mrpt::detectors::CFaceDetection::checkIfDiagonalSurface2 ( CObservation3DRangeScan *  face )

private

bool mrpt::detectors::CFaceDetection::checkIfFacePlane ( CObservation3DRangeScan *  face )

private

bool mrpt::detectors::CFaceDetection::checkIfFacePlaneCov ( CObservation3DRangeScan *  face )

private

bool mrpt::detectors::CFaceDetection::checkIfFaceRegions ( CObservation3DRangeScan *  face )

private

size_t mrpt::detectors::CFaceDetection::checkRelativePosition ( const TPoint3D &  p1, const TPoint3D &  p2, const TPoint3D &  p, double &  dist  )

private

void mrpt::detectors::CFaceDetection::debug_returnResults	(	const vector_uint &	falsePositives,
		const vector_uint &	ignore,
		unsigned int &	falsePositivesDeleted,
		unsigned int &	realFacesDeleted
	)

void mrpt::detectors::CObjectDetection::detectObjects ( const CObservationPtr  obs, vector_detectable_object &  detected  )

inlineinherited

Definition at line 63 of file CObjectDetection.h.

References mrpt::slam::CObservationPtr::pointer().

void mrpt::detectors::CObjectDetection::detectObjects ( const CObservation *  obs, vector_detectable_object &  detected  )

inlineinherited

Definition at line 68 of file CObjectDetection.h.

void mrpt::detectors::CObjectDetection::detectObjects ( const CImage *  img, vector_detectable_object &  detected  )

inherited

virtual void mrpt::detectors::CFaceDetection::detectObjects_Impl ( const CObservation *  obs, vector_detectable_object &  detected  )

virtual

Implements mrpt::detectors::CObjectDetection.

static void mrpt::detectors::CFaceDetection::dummy_checkIfDiagonalSurface ( CFaceDetection *  obj )

staticprivate

static void mrpt::detectors::CFaceDetection::dummy_checkIfFacePlaneCov ( CFaceDetection *  obj )

staticprivate

static void mrpt::detectors::CFaceDetection::dummy_checkIfFaceRegions ( CFaceDetection *  obj )

staticprivate

void mrpt::detectors::CFaceDetection::experimental_calcHist ( const CImage &  face, const size_t &  c1, const size_t &  r1, const size_t &  c2, const size_t &  r2, CMatrixTemplate< unsigned int > &  hist  )

private

void mrpt::detectors::CFaceDetection::experimental_segmentFace ( const CObservation3DRangeScan &  face, CMatrixTemplate< bool > &  region  )

private

void mrpt::detectors::CFaceDetection::experimental_showMeasurements

(

)

void mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects ( const std::vector< CArrayDouble< 3 > > &  pointsVector, const CMatrixDouble &  eigenVect, const vector_double &  eigenVal  )

private

void mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned ( const std::vector< float > &  xs, const std::vector< float > &  ys, const std::vector< float > &  zs  )

private

void mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned ( const CObservation3DRangeScan &  face )

private

void mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned ( const std::vector< TPoint3D > &  points )

private

void mrpt::detectors::CFaceDetection::experimental_viewRegions ( const std::vector< TPoint3D >  regions[9], const TPoint3D  meanPos[3][3]  )

private

void mrpt::detectors::CObjectDetection::init ( const std::string &  configFile )

inlineinherited

Initialize the object with parameters loaded from the given config file.

Definition at line 54 of file CObjectDetection.h.

virtual void mrpt::detectors::CFaceDetection::init ( const mrpt::utils::CConfigFileBase &  cfg )

virtual

Initialize the object with parameters loaded from the given config source.

Implements mrpt::detectors::CObjectDetection.

void mrpt::detectors::CFaceDetection::thread_checkIfDiagonalSurface ( )

private

void mrpt::detectors::CFaceDetection::thread_checkIfFacePlaneCov ( )

private

void mrpt::detectors::CFaceDetection::thread_checkIfFaceRegions ( )

private

Member Data Documentation

CCascadeClassifierDetection mrpt::detectors::CFaceDetection::cascadeClassifier

Definition at line 60 of file CFaceDetection.h.

bool mrpt::detectors::CFaceDetection::m_checkIfDiagonalSurface_res

private

Save result of checkIfDiagonalSurface filter.

Definition at line 107 of file CFaceDetection.h.

bool mrpt::detectors::CFaceDetection::m_checkIfFacePlaneCov_res

private

Save result of checkIfFacePlaneCov filter.

Definition at line 106 of file CFaceDetection.h.

bool mrpt::detectors::CFaceDetection::m_checkIfFaceRegions_res

private

Save result of checkIfFaceRegions filter.

Definition at line 105 of file CFaceDetection.h.

bool mrpt::detectors::CFaceDetection::m_end_threads

private

Indicates to all threads that must finish their execution.

Definition at line 109 of file CFaceDetection.h.

CSemaphore mrpt::detectors::CFaceDetection::m_enter_checkIfDiagonalSurface

private

Indicates to thread_checkIfDiagonalSurface that exist a new face to analyze.

Definition at line 113 of file CFaceDetection.h.

CSemaphore mrpt::detectors::CFaceDetection::m_enter_checkIfFacePlaneCov

private

Indicates to thread_checkIfFacePlaneCov that exist a new face to analyze.

Definition at line 112 of file CFaceDetection.h.

CSemaphore mrpt::detectors::CFaceDetection::m_enter_checkIfFaceRegions

private

Indicates to thread_checkIfFaceRegions that exist a new face to analyze.

Definition at line 111 of file CFaceDetection.h.

CObservation3DRangeScan mrpt::detectors::CFaceDetection::m_lastFaceDetected

private

Last face detected.

Definition at line 119 of file CFaceDetection.h.

CSemaphore mrpt::detectors::CFaceDetection::m_leave_checkIfDiagonalSurface

private

Indicates to main thread that thread_checkIfDiagonalSurface has been completed analisis of the last face detected.

Definition at line 117 of file CFaceDetection.h.

CSemaphore mrpt::detectors::CFaceDetection::m_leave_checkIfFacePlaneCov

private

Indicates to main thread that thread_checkIfFacePlaneCov has been completed analisis of the last face detected.

Definition at line 116 of file CFaceDetection.h.

CSemaphore mrpt::detectors::CFaceDetection::m_leave_checkIfFaceRegions

private

Indicates to main thread that thread_checkIfFaceRegions has been completed analisis of the last face detected.

Definition at line 115 of file CFaceDetection.h.

std::vector<double> mrpt::detectors::CFaceDetection::m_meanHist

private

Definition at line 145 of file CFaceDetection.h.

struct mrpt::detectors::CFaceDetection::TMeasurement mrpt::detectors::CFaceDetection::m_measure

private

struct mrpt::detectors::CFaceDetection::TOptions mrpt::detectors::CFaceDetection::m_options

struct mrpt::detectors::CFaceDetection::TTestsOptions mrpt::detectors::CFaceDetection::m_testsOptions

TThreadHandle mrpt::detectors::CFaceDetection::m_thread_checkIfDiagonalSurface

private

Thread that execute checkIfDiagonalSurface filter.

Definition at line 103 of file CFaceDetection.h.

TThreadHandle mrpt::detectors::CFaceDetection::m_thread_checkIfFacePlaneCov

private

Thread that execute checkIfFacePlaneCov filter.

Definition at line 102 of file CFaceDetection.h.

TThreadHandle mrpt::detectors::CFaceDetection::m_thread_checkIfFaceRegions

private

Thread that execute checkIfFaceRegions filter.

Definition at line 101 of file CFaceDetection.h.

CTimeLogger mrpt::detectors::CFaceDetection::m_timeLog

private

Definition at line 143 of file CFaceDetection.h.