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 44 of file CFaceDetection.cpp.
CFaceDetection::~CFaceDetection | ( | ) |
Definition at line 57 of file CFaceDetection.cpp.
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private |
Definition at line 849 of file CFaceDetection.cpp.
References mrpt::math::distance(), mrpt::math::TPoint3D::distanceTo(), MRPT_END, MRPT_START, and mrpt::math::CMatrixDynamic< T >::setSize().
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Definition at line 1116 of file CFaceDetection.cpp.
References mrpt::math::distance(), mrpt::math::TPoint3D::distanceTo(), MRPT_END, and MRPT_START.
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Definition at line 321 of file CFaceDetection.cpp.
References mrpt::math::getRegressionPlane().
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Definition at line 373 of file CFaceDetection.cpp.
References mrpt::math::cov(), mrpt::math::MatrixBase< Scalar, Derived >::eig(), MRPT_TRY_END, and MRPT_TRY_START.
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Definition at line 500 of file CFaceDetection.cpp.
References mrpt::math::CMatrixDynamic< T >::cols(), mrpt::math::TPoint3D::distanceTo(), MRPT_END, MRPT_START, mrpt::math::CMatrixDynamic< T >::rows(), mrpt::math::CMatrixDynamic< T >::setSize(), mrpt::math::sum(), and mrpt::math::TPoint3D_data::x.
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Definition at line 792 of file CFaceDetection.cpp.
References mrpt::math::TPoint3D_data::x, and mrpt::math::TPoint3D_data::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 1946 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 131 of file CFaceDetection.cpp.
References IS_CLASS, MRPT_END, and MRPT_START.
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staticprivate |
Definition at line 824 of file CFaceDetection.cpp.
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staticprivate |
Definition at line 350 of file CFaceDetection.cpp.
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staticprivate |
Definition at line 476 of file CFaceDetection.cpp.
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Definition at line 1786 of file CFaceDetection.cpp.
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Definition at line 1653 of file CFaceDetection.cpp.
References mrpt::system::pause(), mrpt::math::CMatrixDynamic< T >::setSize(), and win.
void CFaceDetection::experimental_showMeasurements | ( | ) |
Definition at line 1805 of file CFaceDetection.cpp.
References mrpt::math::meanAndStd(), and mrpt::system::pause().
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Definition at line 1460 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_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.
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Definition at line 1390 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 1340 of file CFaceDetection.cpp.
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Definition at line 1365 of file CFaceDetection.cpp.
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Definition at line 1557 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 75 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 829 of file CFaceDetection.cpp.
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Definition at line 355 of file CFaceDetection.cpp.
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Definition at line 481 of file CFaceDetection.cpp.
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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