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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 52 of file CFaceDetection.h.

#include <mrpt/detectors/CFaceDetection.h>

Inheritance diagram for mrpt::detectors::CFaceDetection:
Inheritance graph
[legend]

List of all members.

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)

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 
)
virtual void mrpt::detectors::CFaceDetection::detectObjects_Impl ( const CObservation obs,
vector_detectable_object detected 
) [virtual]
static void mrpt::detectors::CFaceDetection::dummy_checkIfDiagonalSurface ( CFaceDetection obj ) [static, private]
static void mrpt::detectors::CFaceDetection::dummy_checkIfFacePlaneCov ( CFaceDetection obj ) [static, private]
static void mrpt::detectors::CFaceDetection::dummy_checkIfFaceRegions ( CFaceDetection obj ) [static, private]
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 std::vector< TPoint3D > &  points ) [private]
void mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned ( const CObservation3DRangeScan face ) [private]
void mrpt::detectors::CFaceDetection::experimental_viewRegions ( const std::vector< TPoint3D regions[9],
const TPoint3D  meanPos[3][3] 
) [private]
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

Definition at line 56 of file CFaceDetection.h.

Save result of checkIfDiagonalSurface filter.

Definition at line 103 of file CFaceDetection.h.

Save result of checkIfFacePlaneCov filter.

Definition at line 102 of file CFaceDetection.h.

Save result of checkIfFaceRegions filter.

Definition at line 101 of file CFaceDetection.h.

Indicates to all threads that must finish their execution.

Definition at line 105 of file CFaceDetection.h.

Indicates to thread_checkIfDiagonalSurface that exist a new face to analyze.

Definition at line 109 of file CFaceDetection.h.

Indicates to thread_checkIfFacePlaneCov that exist a new face to analyze.

Definition at line 108 of file CFaceDetection.h.

Indicates to thread_checkIfFaceRegions that exist a new face to analyze.

Definition at line 107 of file CFaceDetection.h.

Last face detected.

Definition at line 115 of file CFaceDetection.h.

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

Definition at line 113 of file CFaceDetection.h.

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

Definition at line 112 of file CFaceDetection.h.

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

Definition at line 111 of file CFaceDetection.h.

std::vector<double> mrpt::detectors::CFaceDetection::m_meanHist [private]

Definition at line 141 of file CFaceDetection.h.

Thread that execute checkIfDiagonalSurface filter.

Definition at line 99 of file CFaceDetection.h.

Thread that execute checkIfFacePlaneCov filter.

Definition at line 98 of file CFaceDetection.h.

Thread that execute checkIfFaceRegions filter.

Definition at line 97 of file CFaceDetection.h.

Definition at line 139 of file CFaceDetection.h.




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