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 31 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. More...
virtual void	detectObjects_Impl (const mrpt::obs::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. More...
void	detectObjects (const mrpt::obs::CObservationPtr obs, vector_detectable_object &detected)
void	detectObjects (const mrpt::obs::CObservation *obs, vector_detectable_object &detected)
void	detectObjects (const mrpt::utils::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 (mrpt::obs::CObservation3DRangeScan *face)
bool	checkIfFacePlaneCov (mrpt::obs::CObservation3DRangeScan *face)
void	thread_checkIfFacePlaneCov ()
bool	checkIfFaceRegions (mrpt::obs::CObservation3DRangeScan *face)
void	thread_checkIfFaceRegions ()
size_t	checkRelativePosition (const mrpt::math::TPoint3D &p1, const mrpt::math::TPoint3D &p2, const mrpt::math::TPoint3D &p, double &dist)
void	thread_checkIfDiagonalSurface ()
bool	checkIfDiagonalSurface (mrpt::obs::CObservation3DRangeScan *face)
bool	checkIfDiagonalSurface2 (mrpt::obs::CObservation3DRangeScan *face)
void	experimental_viewFacePointsScanned (const std::vector< float > &xs, const std::vector< float > &ys, const std::vector< float > &zs)
void	experimental_viewFacePointsScanned (const mrpt::obs::CObservation3DRangeScan &face)
void	experimental_viewFacePointsScanned (const std::vector< mrpt::math::TPoint3D > &points)
void	experimental_viewFacePointsAndEigenVects (const std::vector< mrpt::math::CArrayDouble< 3 > > &pointsVector, const mrpt::math::CMatrixDouble &eigenVect, const mrpt::math::CVectorDouble &eigenVal)
void	experimental_viewRegions (const std::vector< mrpt::math::TPoint3D > regions[9], const mrpt::math::TPoint3D meanPos[3][3])
void	experimental_segmentFace (const mrpt::obs::CObservation3DRangeScan &face, mrpt::math::CMatrixTemplate< bool > &region)
void	experimental_calcHist (const mrpt::utils::CImage &face, const size_t &c1, const size_t &r1, const size_t &c2, const size_t &r2, mrpt::math::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
mrpt::system::TThreadHandle	m_thread_checkIfFaceRegions
	Thread that execute checkIfFaceRegions filter. More...
mrpt::system::TThreadHandle	m_thread_checkIfFacePlaneCov
	Thread that execute checkIfFacePlaneCov filter. More...
mrpt::system::TThreadHandle	m_thread_checkIfDiagonalSurface
	Thread that execute checkIfDiagonalSurface filter. More...
bool	m_checkIfFaceRegions_res
	Save result of checkIfFaceRegions filter. More...
bool	m_checkIfFacePlaneCov_res
	Save result of checkIfFacePlaneCov filter. More...
bool	m_checkIfDiagonalSurface_res
	Save result of checkIfDiagonalSurface filter. More...
bool	m_end_threads
	Indicates to all threads that must finish their execution. More...
mrpt::synch::CSemaphore	m_enter_checkIfFaceRegions
	Indicates to thread_checkIfFaceRegions that exist a new face to analyze. More...
mrpt::synch::CSemaphore	m_enter_checkIfFacePlaneCov
	Indicates to thread_checkIfFacePlaneCov that exist a new face to analyze. More...
mrpt::synch::CSemaphore	m_enter_checkIfDiagonalSurface
	Indicates to thread_checkIfDiagonalSurface that exist a new face to analyze. More...
mrpt::synch::CSemaphore	m_leave_checkIfFaceRegions
	Indicates to main thread that thread_checkIfFaceRegions has been completed analisis of the last face detected. More...
mrpt::synch::CSemaphore	m_leave_checkIfFacePlaneCov
	Indicates to main thread that thread_checkIfFacePlaneCov has been completed analisis of the last face detected. More...
mrpt::synch::CSemaphore	m_leave_checkIfDiagonalSurface
	Indicates to main thread that thread_checkIfDiagonalSurface has been completed analisis of the last face detected. More...
mrpt::obs::CObservation3DRangeScan	m_lastFaceDetected
	Last face detected. More...
struct mrpt::detectors::CFaceDetection::TMeasurement	m_measure
mrpt::utils::CTimeLogger	m_timeLog
std::vector< double >	m_meanHist

Constructor & Destructor Documentation

CFaceDetection()

CFaceDetection::CFaceDetection

(

)

Definition at line 46 of file CFaceDetection.cpp.

References mrpt::utils::CTimeLogger::enable(), mrpt::detectors::CFaceDetection::TMeasurement::faceNum, m_measure, m_timeLog, mrpt::detectors::CFaceDetection::TMeasurement::numPossibleFacesDetected, and mrpt::detectors::CFaceDetection::TMeasurement::numRealFacesDetected.

~CFaceDetection()

CFaceDetection::~CFaceDetection

(

)

Definition at line 67 of file CFaceDetection.cpp.

References mrpt::system::joinThread(), m_end_threads, m_enter_checkIfDiagonalSurface, m_enter_checkIfFacePlaneCov, m_enter_checkIfFaceRegions, m_thread_checkIfDiagonalSurface, m_thread_checkIfFacePlaneCov, m_thread_checkIfFaceRegions, and mrpt::synch::CSemaphore::release().

Member Function Documentation

checkIfDiagonalSurface()

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

private

Definition at line 818 of file CFaceDetection.cpp.

References mrpt::detectors::CFaceDetection::TOptions::confidenceThreshold, mrpt::math::distance(), mrpt::math::TPoint3D::distanceTo(), mrpt::utils::CTimeLogger::enter(), mrpt::detectors::CFaceDetection::TMeasurement::faceNum, mrpt::math::CMatrixTemplate< T >::get_unsafe(), mrpt::utils::CTimeLogger::leave(), m_measure, m_options, m_timeLog, MRPT_END, MRPT_START, mrpt::math::CMatrixTemplate< T >::set_unsafe(), mrpt::math::CMatrixTemplate< T >::setSize(), mrpt::detectors::CFaceDetection::TMeasurement::sumDistances, mrpt::detectors::CFaceDetection::TMeasurement::takeMeasures, mrpt::detectors::CFaceDetection::TMeasurement::takeTime, mrpt::detectors::CFaceDetection::TOptions::useDiagonalDistanceFilter, and mrpt::detectors::CFaceDetection::TOptions::useSizeDistanceRelationFilter.

Referenced by detectObjects_Impl(), and thread_checkIfDiagonalSurface().

checkIfDiagonalSurface2()

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

private

Definition at line 1073 of file CFaceDetection.cpp.

References mrpt::detectors::CFaceDetection::TOptions::confidenceThreshold, mrpt::math::distance(), mrpt::math::TPoint3D::distanceTo(), mrpt::utils::CTimeLogger::enter(), experimental_segmentFace(), mrpt::math::CMatrixTemplate< T >::get_unsafe(), mrpt::utils::CTimeLogger::leave(), m_measure, m_options, m_timeLog, MRPT_END, MRPT_START, mrpt::detectors::CFaceDetection::TMeasurement::sumDistances, mrpt::detectors::CFaceDetection::TMeasurement::takeMeasures, mrpt::detectors::CFaceDetection::TMeasurement::takeTime, mrpt::detectors::CFaceDetection::TOptions::useDiagonalDistanceFilter, and mrpt::detectors::CFaceDetection::TOptions::useSizeDistanceRelationFilter.

checkIfFacePlane()

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

private

Definition at line 313 of file CFaceDetection.cpp.

References mrpt::detectors::CFaceDetection::TMeasurement::errorEstimations, mrpt::math::getRegressionPlane(), m_measure, m_testsOptions, mrpt::detectors::CFaceDetection::TTestsOptions::planeThreshold, and mrpt::detectors::CFaceDetection::TMeasurement::takeMeasures.

checkIfFacePlaneCov()

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

private

Definition at line 364 of file CFaceDetection.cpp.

References mrpt::detectors::CFaceDetection::TOptions::confidenceThreshold, mrpt::math::cov(), mrpt::utils::CTimeLogger::enter(), experimental_segmentFace(), experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::TMeasurement::faceNum, mrpt::math::CMatrixTemplate< T >::get_unsafe(), mrpt::utils::CTimeLogger::leave(), mrpt::detectors::CFaceDetection::TMeasurement::lessEigenVals, m_measure, m_options, m_timeLog, MRPT_TRY_END, MRPT_TRY_START, mrpt::detectors::CFaceDetection::TMeasurement::takeMeasures, and mrpt::detectors::CFaceDetection::TMeasurement::takeTime.

Referenced by detectObjects_Impl(), and thread_checkIfFacePlaneCov().

checkIfFaceRegions()

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

private

Definition at line 494 of file CFaceDetection.cpp.

References checkRelativePosition(), mrpt::detectors::CFaceDetection::TOptions::confidenceThreshold, mrpt::math::TPoint3D::distanceTo(), mrpt::utils::CTimeLogger::enter(), experimental_calcHist(), experimental_segmentFace(), mrpt::math::CMatrixTemplate< T >::get_unsafe(), mrpt::math::CMatrixTemplate< T >::getColCount(), mrpt::math::CMatrixTemplate< T >::getRowCount(), mrpt::utils::CTimeLogger::leave(), m_measure, m_options, m_timeLog, MRPT_END, MRPT_START, mrpt::math::CMatrixTemplate< T >::setSize(), mrpt::math::sum(), mrpt::detectors::CFaceDetection::TMeasurement::takeTime, and mrpt::math::TPoint3D::x.

Referenced by detectObjects_Impl(), and thread_checkIfFaceRegions().

checkRelativePosition()

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

private

Definition at line 761 of file CFaceDetection.cpp.

References mrpt::math::TPoint3D::x, and mrpt::math::TPoint3D::y.

Referenced by checkIfFaceRegions().

debug_returnResults()

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

Definition at line 1898 of file CFaceDetection.cpp.

References mrpt::detectors::CFaceDetection::TMeasurement::deletedRegions, mrpt::detectors::CFaceDetection::TMeasurement::faceNum, and m_measure.

detectObjects() [1/3]

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

inlineinherited

Definition at line 38 of file CObjectDetection.h.

Referenced by detectObjects_Impl().

detectObjects() [2/3]

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

inlineinherited

Definition at line 43 of file CObjectDetection.h.

detectObjects() [3/3]

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

inherited

Definition at line 24 of file CObjectDetection.cpp.

References mrpt::obs::CObservationImage::image, mrpt::system::now(), mrpt::utils::CImage::setFromImageReadOnly(), and mrpt::obs::CObservation::timestamp.

detectObjects_Impl()

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

virtual

Implements mrpt::detectors::CObjectDetection.

Definition at line 126 of file CFaceDetection.cpp.

References cascadeClassifier, checkIfDiagonalSurface(), checkIfFacePlaneCov(), checkIfFaceRegions(), mrpt::detectors::CFaceDetection::TMeasurement::deletedRegions, mrpt::detectors::CObjectDetection::detectObjects(), mrpt::utils::CTimeLogger::enter(), mrpt::detectors::CFaceDetection::TMeasurement::faceNum, mrpt::obs::CObservation3DRangeScan::getZoneAsObs(), mrpt::obs::CObservation3DRangeScan::hasPoints3D, IS_CLASS, mrpt::utils::CTimeLogger::leave(), m_checkIfDiagonalSurface_res, m_checkIfFacePlaneCov_res, m_checkIfFaceRegions_res, m_enter_checkIfDiagonalSurface, m_enter_checkIfFacePlaneCov, m_enter_checkIfFaceRegions, m_lastFaceDetected, m_leave_checkIfDiagonalSurface, m_leave_checkIfFacePlaneCov, m_leave_checkIfFaceRegions, m_measure, m_options, m_timeLog, MRPT_END, MRPT_START, mrpt::detectors::CFaceDetection::TOptions::multithread, mrpt::detectors::CFaceDetection::TMeasurement::numPossibleFacesDetected, mrpt::detectors::CFaceDetection::TMeasurement::numRealFacesDetected, mrpt::synch::CSemaphore::release(), mrpt::detectors::CFaceDetection::TMeasurement::takeTime, mrpt::detectors::CFaceDetection::TOptions::useCovFilter, mrpt::detectors::CFaceDetection::TOptions::useDiagonalDistanceFilter, mrpt::detectors::CFaceDetection::TOptions::useRegionsFilter, mrpt::detectors::CFaceDetection::TOptions::useSizeDistanceRelationFilter, and mrpt::synch::CSemaphore::waitForSignal().

dummy_checkIfDiagonalSurface()

void CFaceDetection::dummy_checkIfDiagonalSurface ( CFaceDetection *  obj )

staticprivate

Definition at line 792 of file CFaceDetection.cpp.

Referenced by init().

dummy_checkIfFacePlaneCov()

void CFaceDetection::dummy_checkIfFacePlaneCov ( CFaceDetection *  obj )

staticprivate

Definition at line 340 of file CFaceDetection.cpp.

Referenced by init().

dummy_checkIfFaceRegions()

void CFaceDetection::dummy_checkIfFaceRegions ( CFaceDetection *  obj )

staticprivate

Definition at line 468 of file CFaceDetection.cpp.

Referenced by init().

experimental_calcHist()

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

private

Definition at line 1758 of file CFaceDetection.cpp.

References mrpt::math::CMatrixTemplate< T >::get_unsafe(), and mrpt::math::CMatrixTemplate< T >::set_unsafe().

Referenced by checkIfFaceRegions().

experimental_segmentFace()

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

private

Definition at line 1591 of file CFaceDetection.cpp.

References mrpt::detectors::CFaceDetection::TOptions::confidenceThreshold, mrpt::detectors::CFaceDetection::TMeasurement::faceNum, mrpt::math::CMatrixTemplate< T >::get_unsafe(), m_lastFaceDetected, m_measure, m_options, mrpt::system::pause(), mrpt::obs::CObservation3DRangeScan::rangeImage, mrpt::math::CMatrixTemplate< T >::set_unsafe(), mrpt::math::CMatrixTemplate< T >::setSize(), and mrpt::gui::CDisplayWindow::showImage().

Referenced by checkIfDiagonalSurface2(), checkIfFacePlaneCov(), and checkIfFaceRegions().

experimental_showMeasurements()

void CFaceDetection::experimental_showMeasurements

(

)

Definition at line 1779 of file CFaceDetection.cpp.

References mrpt::detectors::CFaceDetection::TMeasurement::errorEstimations, mrpt::utils::CTimeLogger::getStatsAsText(), mrpt::detectors::CFaceDetection::TMeasurement::lessEigenVals, m_meanHist, m_measure, m_timeLog, meanAndStd(), mrpt::detectors::CFaceDetection::TMeasurement::numPossibleFacesDetected, mrpt::detectors::CFaceDetection::TMeasurement::numRealFacesDetected, mrpt::system::pause(), mrpt::detectors::CFaceDetection::TMeasurement::saveMeasurementsToFile, mrpt::detectors::CFaceDetection::TMeasurement::sumDistances, and mrpt::detectors::CFaceDetection::TMeasurement::takeTime.

experimental_viewFacePointsAndEigenVects()

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

private

Definition at line 1403 of file CFaceDetection.cpp.

References mrpt::opengl::CGridPlaneXY::Create(), mrpt::opengl::CPointCloudColoured::Create(), mrpt::gui::CDisplayWindow3D::get3DSceneAndLock(), mrpt::system::pause(), mrpt::gui::CDisplayWindow3D::repaint(), mrpt::gui::CDisplayWindow3D::resize(), mrpt::maps::CPointsMap::setAllPoints(), mrpt::gui::CDisplayWindow3D::setCameraAzimuthDeg(), mrpt::gui::CDisplayWindow3D::setCameraElevationDeg(), mrpt::gui::CDisplayWindow3D::setCameraPointingToPoint(), mrpt::gui::CDisplayWindow3D::setCameraZoom(), mrpt::gui::CDisplayWindow3D::setWindowTitle(), mrpt::math::sum(), mrpt::gui::CDisplayWindow3D::unlockAccess3DScene(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Referenced by checkIfFacePlaneCov().

experimental_viewFacePointsScanned() [1/3]

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

private

Definition at line 1334 of file CFaceDetection.cpp.

References mrpt::opengl::CGridPlaneXY::Create(), mrpt::opengl::CPointCloudColoured::Create(), mrpt::gui::CDisplayWindow3D::get3DSceneAndLock(), mrpt::system::pause(), mrpt::gui::CDisplayWindow3D::repaint(), mrpt::gui::CDisplayWindow3D::resize(), mrpt::maps::CPointsMap::setAllPoints(), mrpt::gui::CDisplayWindow3D::setCameraAzimuthDeg(), mrpt::gui::CDisplayWindow3D::setCameraElevationDeg(), mrpt::gui::CDisplayWindow3D::setCameraPointingToPoint(), mrpt::gui::CDisplayWindow3D::setCameraZoom(), mrpt::gui::CDisplayWindow3D::setWindowTitle(), and mrpt::gui::CDisplayWindow3D::unlockAccess3DScene().

Referenced by experimental_viewFacePointsScanned().

experimental_viewFacePointsScanned() [2/3]

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

private

Definition at line 1284 of file CFaceDetection.cpp.

References experimental_viewFacePointsScanned().

experimental_viewFacePointsScanned() [3/3]

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

private

Definition at line 1309 of file CFaceDetection.cpp.

References experimental_viewFacePointsScanned().

experimental_viewRegions()

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

private

Definition at line 1500 of file CFaceDetection.cpp.

References mrpt::opengl::CAxis::Create(), mrpt::opengl::CGridPlaneXY::Create(), mrpt::opengl::CSetOfLines::Create(), mrpt::opengl::CPointCloudColoured::Create(), mrpt::gui::CDisplayWindow3D::get3DSceneAndLock(), mrpt::system::pause(), R, mrpt::gui::CDisplayWindow3D::repaint(), mrpt::gui::CDisplayWindow3D::resize(), mrpt::maps::CPointsMap::setAllPoints(), mrpt::gui::CDisplayWindow3D::setCameraAzimuthDeg(), mrpt::gui::CDisplayWindow3D::setCameraElevationDeg(), mrpt::gui::CDisplayWindow3D::setCameraPointingToPoint(), mrpt::gui::CDisplayWindow3D::setCameraZoom(), mrpt::maps::CColouredPointsMap::setPointColor(), mrpt::gui::CDisplayWindow3D::setWindowTitle(), mrpt::math::TSegment3D, and mrpt::gui::CDisplayWindow3D::unlockAccess3DScene().

init() [1/2]

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

inlineinherited

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

Definition at line 29 of file CObjectDetection.h.

init() [2/2]

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

virtual

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

Implements mrpt::detectors::CObjectDetection.

Definition at line 85 of file CFaceDetection.cpp.

References cascadeClassifier, mrpt::detectors::CFaceDetection::TOptions::confidenceThreshold, mrpt::system::createThread(), dummy_checkIfDiagonalSurface(), dummy_checkIfFacePlaneCov(), dummy_checkIfFaceRegions(), mrpt::detectors::CCascadeClassifierDetection::init(), m_checkIfDiagonalSurface_res, m_checkIfFacePlaneCov_res, m_checkIfFaceRegions_res, m_measure, m_options, m_testsOptions, m_thread_checkIfDiagonalSurface, m_thread_checkIfFacePlaneCov, m_thread_checkIfFaceRegions, mrpt::detectors::CFaceDetection::TOptions::multithread, mrpt::detectors::CFaceDetection::TTestsOptions::planeTest_eigenVal_bottom, mrpt::detectors::CFaceDetection::TTestsOptions::planeTest_eigenVal_top, mrpt::detectors::CFaceDetection::TTestsOptions::planeThreshold, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_double(), mrpt::utils::CConfigFileBase::read_int(), mrpt::detectors::CFaceDetection::TTestsOptions::regionsTest_sumDistThreshold_bottom, mrpt::detectors::CFaceDetection::TTestsOptions::regionsTest_sumDistThreshold_top, mrpt::detectors::CFaceDetection::TMeasurement::saveMeasurementsToFile, mrpt::detectors::CFaceDetection::TMeasurement::takeMeasures, mrpt::detectors::CFaceDetection::TMeasurement::takeTime, mrpt::detectors::CFaceDetection::TOptions::useCovFilter, mrpt::detectors::CFaceDetection::TOptions::useDiagonalDistanceFilter, mrpt::detectors::CFaceDetection::TOptions::useRegionsFilter, and mrpt::detectors::CFaceDetection::TOptions::useSizeDistanceRelationFilter.

thread_checkIfDiagonalSurface()

void CFaceDetection::thread_checkIfDiagonalSurface ( )

private

Definition at line 797 of file CFaceDetection.cpp.

References checkIfDiagonalSurface(), m_checkIfDiagonalSurface_res, m_end_threads, m_enter_checkIfDiagonalSurface, m_lastFaceDetected, m_leave_checkIfDiagonalSurface, mrpt::synch::CSemaphore::release(), and mrpt::synch::CSemaphore::waitForSignal().

thread_checkIfFacePlaneCov()

void CFaceDetection::thread_checkIfFacePlaneCov ( )

private

Definition at line 345 of file CFaceDetection.cpp.

References checkIfFacePlaneCov(), m_checkIfFacePlaneCov_res, m_end_threads, m_enter_checkIfFacePlaneCov, m_lastFaceDetected, m_leave_checkIfFacePlaneCov, mrpt::synch::CSemaphore::release(), and mrpt::synch::CSemaphore::waitForSignal().

thread_checkIfFaceRegions()

void CFaceDetection::thread_checkIfFaceRegions ( )

private

Definition at line 473 of file CFaceDetection.cpp.

References checkIfFaceRegions(), m_checkIfFaceRegions_res, m_end_threads, m_enter_checkIfFaceRegions, m_lastFaceDetected, m_leave_checkIfFaceRegions, mrpt::synch::CSemaphore::release(), and mrpt::synch::CSemaphore::waitForSignal().

Member Data Documentation

cascadeClassifier

CCascadeClassifierDetection mrpt::detectors::CFaceDetection::cascadeClassifier

Definition at line 35 of file CFaceDetection.h.

Referenced by detectObjects_Impl(), and init().

m_checkIfDiagonalSurface_res

bool mrpt::detectors::CFaceDetection::m_checkIfDiagonalSurface_res

private

Save result of checkIfDiagonalSurface filter.

Definition at line 82 of file CFaceDetection.h.

Referenced by detectObjects_Impl(), init(), and thread_checkIfDiagonalSurface().

m_checkIfFacePlaneCov_res

bool mrpt::detectors::CFaceDetection::m_checkIfFacePlaneCov_res

private

Save result of checkIfFacePlaneCov filter.

Definition at line 81 of file CFaceDetection.h.

Referenced by detectObjects_Impl(), init(), and thread_checkIfFacePlaneCov().

m_checkIfFaceRegions_res

bool mrpt::detectors::CFaceDetection::m_checkIfFaceRegions_res

private

Save result of checkIfFaceRegions filter.

Definition at line 80 of file CFaceDetection.h.

Referenced by detectObjects_Impl(), init(), and thread_checkIfFaceRegions().

m_end_threads

bool mrpt::detectors::CFaceDetection::m_end_threads

private

Indicates to all threads that must finish their execution.

Definition at line 84 of file CFaceDetection.h.

Referenced by thread_checkIfDiagonalSurface(), thread_checkIfFacePlaneCov(), thread_checkIfFaceRegions(), and ~CFaceDetection().

m_enter_checkIfDiagonalSurface

mrpt::synch::CSemaphore mrpt::detectors::CFaceDetection::m_enter_checkIfDiagonalSurface

private

Indicates to thread_checkIfDiagonalSurface that exist a new face to analyze.

Definition at line 88 of file CFaceDetection.h.

Referenced by detectObjects_Impl(), thread_checkIfDiagonalSurface(), and ~CFaceDetection().

m_enter_checkIfFacePlaneCov

mrpt::synch::CSemaphore mrpt::detectors::CFaceDetection::m_enter_checkIfFacePlaneCov

private

Indicates to thread_checkIfFacePlaneCov that exist a new face to analyze.

Definition at line 87 of file CFaceDetection.h.

Referenced by detectObjects_Impl(), thread_checkIfFacePlaneCov(), and ~CFaceDetection().

m_enter_checkIfFaceRegions

mrpt::synch::CSemaphore mrpt::detectors::CFaceDetection::m_enter_checkIfFaceRegions

private

Indicates to thread_checkIfFaceRegions that exist a new face to analyze.

Definition at line 86 of file CFaceDetection.h.

Referenced by detectObjects_Impl(), thread_checkIfFaceRegions(), and ~CFaceDetection().

m_lastFaceDetected

mrpt::obs::CObservation3DRangeScan mrpt::detectors::CFaceDetection::m_lastFaceDetected

private

Last face detected.

Definition at line 94 of file CFaceDetection.h.

Referenced by detectObjects_Impl(), experimental_segmentFace(), thread_checkIfDiagonalSurface(), thread_checkIfFacePlaneCov(), and thread_checkIfFaceRegions().

m_leave_checkIfDiagonalSurface

mrpt::synch::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 92 of file CFaceDetection.h.

Referenced by detectObjects_Impl(), and thread_checkIfDiagonalSurface().

m_leave_checkIfFacePlaneCov

mrpt::synch::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 91 of file CFaceDetection.h.

Referenced by detectObjects_Impl(), and thread_checkIfFacePlaneCov().

m_leave_checkIfFaceRegions

mrpt::synch::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 90 of file CFaceDetection.h.

Referenced by detectObjects_Impl(), and thread_checkIfFaceRegions().

m_meanHist

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

private

Definition at line 120 of file CFaceDetection.h.

Referenced by experimental_showMeasurements().

m_measure

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

private

Referenced by CFaceDetection(), checkIfDiagonalSurface(), checkIfDiagonalSurface2(), checkIfFacePlane(), checkIfFacePlaneCov(), checkIfFaceRegions(), debug_returnResults(), detectObjects_Impl(), experimental_segmentFace(), experimental_showMeasurements(), and init().

m_options

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

Referenced by checkIfDiagonalSurface(), checkIfDiagonalSurface2(), checkIfFacePlaneCov(), checkIfFaceRegions(), detectObjects_Impl(), experimental_segmentFace(), and init().

m_testsOptions

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

Referenced by checkIfFacePlane(), and init().

m_thread_checkIfDiagonalSurface

mrpt::system::TThreadHandle mrpt::detectors::CFaceDetection::m_thread_checkIfDiagonalSurface

private

Thread that execute checkIfDiagonalSurface filter.

Definition at line 78 of file CFaceDetection.h.

Referenced by init(), and ~CFaceDetection().

m_thread_checkIfFacePlaneCov

mrpt::system::TThreadHandle mrpt::detectors::CFaceDetection::m_thread_checkIfFacePlaneCov

private

Thread that execute checkIfFacePlaneCov filter.

Definition at line 77 of file CFaceDetection.h.

Referenced by init(), and ~CFaceDetection().

m_thread_checkIfFaceRegions

mrpt::system::TThreadHandle mrpt::detectors::CFaceDetection::m_thread_checkIfFaceRegions

private

Thread that execute checkIfFaceRegions filter.

Definition at line 76 of file CFaceDetection.h.

Referenced by init(), and ~CFaceDetection().

m_timeLog

mrpt::utils::CTimeLogger mrpt::detectors::CFaceDetection::m_timeLog

private

Definition at line 118 of file CFaceDetection.h.

Referenced by CFaceDetection(), checkIfDiagonalSurface(), checkIfDiagonalSurface2(), checkIfFacePlaneCov(), checkIfFaceRegions(), detectObjects_Impl(), and experimental_showMeasurements().