MRPT
1.9.9
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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>
Classes | |
struct | TMeasurement |
struct | TOptions |
struct | TTestsOptions |
Public Member Functions | |
CFaceDetection () | |
~CFaceDetection () | |
void | init (const mrpt::config::CConfigFileBase &cfg) override |
Initialize the object with parameters loaded from the given config source. More... | |
void | detectObjects_Impl (const mrpt::obs::CObservation &obs, vector_detectable_object &detected) override |
void | experimental_showMeasurements () |
void | debug_returnResults (const std::vector< uint32_t > &falsePositives, const std::vector< uint32_t > &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::CObservation::Ptr obs, vector_detectable_object &detected) |
void | detectObjects (const mrpt::obs::CObservation &obs, vector_detectable_object &detected) |
void | detectObjects (const mrpt::img::CImage *img, vector_detectable_object &detected) |
Public Attributes | |
CCascadeClassifierDetection | cascadeClassifier |
struct mrpt::detectors::CFaceDetection::TOptions | m_options |
struct mrpt::detectors::CFaceDetection::TTestsOptions | m_testsOptions |
Static Private Member Functions | |
static void | dummy_checkIfFacePlaneCov (CFaceDetection *obj) |
static void | dummy_checkIfFaceRegions (CFaceDetection *obj) |
static void | dummy_checkIfDiagonalSurface (CFaceDetection *obj) |
Private Attributes | |
std::thread | m_thread_checkIfFaceRegions |
Thread that execute checkIfFaceRegions filter. More... | |
std::thread | m_thread_checkIfFacePlaneCov |
Thread that execute checkIfFacePlaneCov filter. More... | |
std::thread | 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 {false} |
Indicates to all threads that must finish their execution. More... | |
std::promise< void > | m_enter_checkIfFaceRegions |
Indicates to thread_checkIfFaceRegions that exist a new face to analyze. More... | |
std::promise< void > | m_enter_checkIfFacePlaneCov |
Indicates to thread_checkIfFacePlaneCov that exist a new face to analyze. More... | |
std::promise< void > | m_enter_checkIfDiagonalSurface |
Indicates to thread_checkIfDiagonalSurface that exist a new face to analyze. More... | |
std::promise< void > | m_leave_checkIfFaceRegions |
Indicates to main thread that thread_checkIfFaceRegions has been completed analisis of the last face detected. More... | |
std::promise< void > | m_leave_checkIfFacePlaneCov |
Indicates to main thread that thread_checkIfFacePlaneCov has been completed analisis of the last face detected. More... | |
std::promise< void > | 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::system::CTimeLogger | m_timeLog |
std::vector< double > | m_meanHist |
CFaceDetection::CFaceDetection | ( | ) |
Definition at line 45 of file CFaceDetection.cpp.
CFaceDetection::~CFaceDetection | ( | ) |
Definition at line 58 of file CFaceDetection.cpp.
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Definition at line 850 of file CFaceDetection.cpp.
References mrpt::img::CImage::at(), mrpt::obs::CObservation3DRangeScan::confidenceImage, mrpt::math::distance(), mrpt::math::TPoint3D_< T >::distanceTo(), mrpt::img::CImage::getHeight(), mrpt::img::CImage::getWidth(), mrpt::obs::CObservation3DRangeScan::intensityImage, MRPT_END, MRPT_START, mrpt::obs::CObservation3DRangeScan::points3D_x, mrpt::obs::CObservation3DRangeScan::points3D_y, mrpt::obs::CObservation3DRangeScan::points3D_z, and mrpt::math::CMatrixDynamic< T >::setSize().
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Definition at line 1117 of file CFaceDetection.cpp.
References mrpt::img::CImage::at(), mrpt::obs::CObservation3DRangeScan::confidenceImage, mrpt::math::distance(), mrpt::math::TPoint3D_< T >::distanceTo(), mrpt::img::CImage::getHeight(), mrpt::img::CImage::getWidth(), mrpt::obs::CObservation3DRangeScan::intensityImage, MRPT_END, MRPT_START, mrpt::obs::CObservation3DRangeScan::points3D_x, mrpt::obs::CObservation3DRangeScan::points3D_y, and mrpt::obs::CObservation3DRangeScan::points3D_z.
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Definition at line 322 of file CFaceDetection.cpp.
References mrpt::math::getRegressionPlane(), mrpt::obs::CObservation3DRangeScan::points3D_x, mrpt::obs::CObservation3DRangeScan::points3D_y, and mrpt::obs::CObservation3DRangeScan::points3D_z.
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Definition at line 374 of file CFaceDetection.cpp.
References mrpt::img::CImage::at(), mrpt::obs::CObservation3DRangeScan::confidenceImage, mrpt::math::cov(), mrpt::math::MatrixBase< Scalar, Derived >::eig(), mrpt::img::CImage::getHeight(), mrpt::img::CImage::getWidth(), mrpt::obs::CObservation3DRangeScan::hasConfidenceImage, mrpt::obs::CObservation3DRangeScan::intensityImage, MRPT_TRY_END, MRPT_TRY_START, mrpt::obs::CObservation3DRangeScan::points3D_x, mrpt::obs::CObservation3DRangeScan::points3D_y, and mrpt::obs::CObservation3DRangeScan::points3D_z.
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Definition at line 501 of file CFaceDetection.cpp.
References mrpt::img::CImage::at(), mrpt::math::CMatrixDynamic< T >::cols(), mrpt::obs::CObservation3DRangeScan::confidenceImage, mrpt::math::TPoint3D_< T >::distanceTo(), mrpt::containers::end(), mrpt::img::CImage::getHeight(), mrpt::img::CImage::getWidth(), mrpt::obs::CObservation3DRangeScan::intensityImage, MRPT_END, MRPT_START, mrpt::obs::CObservation3DRangeScan::points3D_x, mrpt::obs::CObservation3DRangeScan::points3D_y, mrpt::obs::CObservation3DRangeScan::points3D_z, mrpt::math::CMatrixDynamic< T >::rows(), mrpt::math::CMatrixDynamic< T >::setSize(), mrpt::math::size(), mrpt::math::sum(), and mrpt::math::TPoint3D_data< T >::x.
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Definition at line 793 of file CFaceDetection.cpp.
References mrpt::math::TPoint3D_data< T >::x, and mrpt::math::TPoint3D_data< T >::y.
void CFaceDetection::debug_returnResults | ( | const std::vector< uint32_t > & | falsePositives, |
const std::vector< uint32_t > & | ignore, | ||
unsigned int & | falsePositivesDeleted, | ||
unsigned int & | realFacesDeleted | ||
) |
Definition at line 1948 of file CFaceDetection.cpp.
References falsePositives.
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inlineinherited |
Definition at line 36 of file CObjectDetection.h.
References mrpt::detectors::CObjectDetection::detectObjects_Impl().
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inlineinherited |
Definition at line 43 of file CObjectDetection.h.
References mrpt::detectors::CObjectDetection::detectObjects_Impl().
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inherited |
Definition at line 22 of file CObjectDetection.cpp.
References mrpt::detectors::CObjectDetection::detectObjects_Impl(), mrpt::obs::CObservationImage::image, mrpt::img::CImage::makeShallowCopy(), mrpt::system::now(), and mrpt::obs::CObservation::timestamp.
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overridevirtual |
Implements mrpt::detectors::CObjectDetection.
Definition at line 132 of file CFaceDetection.cpp.
References IS_CLASS, MRPT_END, and MRPT_START.
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staticprivate |
Definition at line 825 of file CFaceDetection.cpp.
References thread_checkIfDiagonalSurface().
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staticprivate |
Definition at line 351 of file CFaceDetection.cpp.
References thread_checkIfFacePlaneCov().
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staticprivate |
Definition at line 477 of file CFaceDetection.cpp.
References thread_checkIfFaceRegions().
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Definition at line 1788 of file CFaceDetection.cpp.
References mrpt::img::CImage::at(), mrpt::img::CImage::getSize(), and mrpt::math::size().
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Definition at line 1654 of file CFaceDetection.cpp.
References mrpt::img::CImage::at(), mrpt::obs::CObservation3DRangeScan::confidenceImage, mrpt::img::CImage::getHeight(), mrpt::img::CImage::getWidth(), mrpt::obs::CObservation3DRangeScan::intensityImage, mrpt::system::pause(), mrpt::img::CImage::setFromMatrix(), mrpt::img::CImage::setPixel(), mrpt::math::CMatrixDynamic< T >::setSize(), and win.
void CFaceDetection::experimental_showMeasurements | ( | ) |
Definition at line 1807 of file CFaceDetection.cpp.
References mrpt::math::meanAndStd(), and mrpt::system::pause().
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Definition at line 1461 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::size(), mrpt::math::sum(), mrpt::gui::CDisplayWindow3D::unlockAccess3DScene(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.
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Definition at line 1391 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().
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Definition at line 1341 of file CFaceDetection.cpp.
References mrpt::obs::CObservation3DRangeScan::points3D_x, mrpt::obs::CObservation3DRangeScan::points3D_y, and mrpt::obs::CObservation3DRangeScan::points3D_z.
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Definition at line 1366 of file CFaceDetection.cpp.
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Definition at line 1558 of file CFaceDetection.cpp.
References mrpt::opengl::CGridPlaneXY::Create(), mrpt::opengl::CAxis::Create(), mrpt::opengl::CSetOfLines::Create(), mrpt::opengl::CPointCloudColoured::Create(), G, 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(), and mrpt::gui::CDisplayWindow3D::unlockAccess3DScene().
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inlineinherited |
Initialize the object with parameters loaded from the given config file.
Definition at line 26 of file CObjectDetection.h.
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overridevirtual |
Initialize the object with parameters loaded from the given config source.
Implements mrpt::detectors::CObjectDetection.
Definition at line 76 of file CFaceDetection.cpp.
References mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_double(), and mrpt::config::CConfigFileBase::read_int().
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Definition at line 830 of file CFaceDetection.cpp.
Referenced by dummy_checkIfDiagonalSurface().
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Definition at line 356 of file CFaceDetection.cpp.
Referenced by dummy_checkIfFacePlaneCov().
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Definition at line 482 of file CFaceDetection.cpp.
Referenced by dummy_checkIfFaceRegions().
CCascadeClassifierDetection mrpt::detectors::CFaceDetection::cascadeClassifier |
Definition at line 34 of file CFaceDetection.h.
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Save result of checkIfDiagonalSurface filter.
Definition at line 91 of file CFaceDetection.h.
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Save result of checkIfFacePlaneCov filter.
Definition at line 89 of file CFaceDetection.h.
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Save result of checkIfFaceRegions filter.
Definition at line 87 of file CFaceDetection.h.
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Indicates to all threads that must finish their execution.
Definition at line 94 of file CFaceDetection.h.
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Indicates to thread_checkIfDiagonalSurface that exist a new face to analyze.
Definition at line 104 of file CFaceDetection.h.
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Indicates to thread_checkIfFacePlaneCov that exist a new face to analyze.
Definition at line 101 of file CFaceDetection.h.
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Indicates to thread_checkIfFaceRegions that exist a new face to analyze.
Definition at line 98 of file CFaceDetection.h.
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Last face detected.
Definition at line 117 of file CFaceDetection.h.
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Indicates to main thread that thread_checkIfDiagonalSurface has been completed analisis of the last face detected.
Definition at line 114 of file CFaceDetection.h.
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Indicates to main thread that thread_checkIfFacePlaneCov has been completed analisis of the last face detected.
Definition at line 111 of file CFaceDetection.h.
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Indicates to main thread that thread_checkIfFaceRegions has been completed analisis of the last face detected.
Definition at line 108 of file CFaceDetection.h.
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Definition at line 143 of file CFaceDetection.h.
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struct mrpt::detectors::CFaceDetection::TOptions mrpt::detectors::CFaceDetection::m_options |
struct mrpt::detectors::CFaceDetection::TTestsOptions mrpt::detectors::CFaceDetection::m_testsOptions |
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Thread that execute checkIfDiagonalSurface filter.
Definition at line 84 of file CFaceDetection.h.
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Thread that execute checkIfFacePlaneCov filter.
Definition at line 82 of file CFaceDetection.h.
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Thread that execute checkIfFaceRegions filter.
Definition at line 80 of file CFaceDetection.h.
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Definition at line 141 of file CFaceDetection.h.
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