CFaceDetection.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/detectors/CCascadeClassifierDetection.h>
#include <mrpt/detectors/CObjectDetection.h>
#include <mrpt/math/CVectorDynamic.h>
#include <mrpt/obs/CObservation3DRangeScan.h>
#include <mrpt/obs/obs_frwds.h>
#include <mrpt/system/CTimeLogger.h>
#include <future>

namespace mrpt
{
/** \ingroup mrpt_detectors_grp  */
namespace detectors
{
/** Specific class for face detection.
 * Methods and variables labeled as experimentals are temporals (for debug or
 * testing
 * purposes) and may disappear in future versions.
 * \ingroup mrpt_detectors_grp
 */
class CFaceDetection : public CObjectDetection
{
   public:
    CCascadeClassifierDetection cascadeClassifier;

    CFaceDetection();

    ~CFaceDetection();

    void init(const mrpt::config::CConfigFileBase& cfg) override;

    void detectObjects_Impl(
        const mrpt::obs::CObservation& obs,
        vector_detectable_object& detected) override;

    struct TOptions
    {
        int confidenceThreshold;
        bool multithread;

        bool useCovFilter;
        bool useRegionsFilter;
        bool useSizeDistanceRelationFilter;
        bool useDiagonalDistanceFilter;

        bool batchMode;

    } m_options;

    struct TTestsOptions
    {
        double planeThreshold;
        double planeTest_eigenVal_top;
        double planeTest_eigenVal_bottom;
        double regionsTest_sumDistThreshold_top;
        double regionsTest_sumDistThreshold_bottom;

    } m_testsOptions;

    // Experimental methods
    void experimental_showMeasurements();

    void debug_returnResults(
        const std::vector<uint32_t>& falsePositives,
        const std::vector<uint32_t>& ignore,
        unsigned int& falsePositivesDeleted, unsigned int& realFacesDeleted);

   private:
    /** Thread that execute checkIfFaceRegions filter */
    std::thread m_thread_checkIfFaceRegions;
    /** Thread that execute checkIfFacePlaneCov filter */
    std::thread m_thread_checkIfFacePlaneCov;
    /** Thread that execute checkIfDiagonalSurface filter */
    std::thread m_thread_checkIfDiagonalSurface;

    /** Save result of checkIfFaceRegions filter */
    bool m_checkIfFaceRegions_res;
    /** Save result of checkIfFacePlaneCov filter */
    bool m_checkIfFacePlaneCov_res;
    /** Save result of checkIfDiagonalSurface filter */
    bool m_checkIfDiagonalSurface_res;

    /** Indicates to all threads that must finish their execution */
    bool m_end_threads{false};

    /** Indicates to thread_checkIfFaceRegions that exist a new face to analyze
     */
    std::promise<void> m_enter_checkIfFaceRegions;
    /** Indicates to thread_checkIfFacePlaneCov that exist a new face to analyze
     */
    std::promise<void> m_enter_checkIfFacePlaneCov;
    /** Indicates to thread_checkIfDiagonalSurface that exist a new face to
     * analyze */
    std::promise<void> m_enter_checkIfDiagonalSurface;

    /** Indicates to main thread that thread_checkIfFaceRegions has been
     * completed analisis of the last face detected */
    std::promise<void> m_leave_checkIfFaceRegions;
    /** Indicates to main thread that thread_checkIfFacePlaneCov has been
     * completed analisis of the last face detected */
    std::promise<void> m_leave_checkIfFacePlaneCov;
    /** Indicates to main thread that thread_checkIfDiagonalSurface has been
     * completed analisis of the last face detected */
    std::promise<void> m_leave_checkIfDiagonalSurface;

    /** Last face detected */
    mrpt::obs::CObservation3DRangeScan m_lastFaceDetected;

    struct TMeasurement
    {
        bool takeMeasures;

        mrpt::math::CVectorDouble lessEigenVals;
        mrpt::math::CVectorDouble errorEstimations;
        mrpt::math::CVectorDouble meanRegions;

        mrpt::math::CVectorDouble sumDistances;

        int faceNum;
        std::vector<uint32_t> deletedRegions;
        int numPossibleFacesDetected;
        int numRealFacesDetected;

        bool takeTime;

        bool saveMeasurementsToFile;

    } m_measure;

    // To take measures abaout execution time
    mrpt::system::CTimeLogger m_timeLog;

    std::vector<double> m_meanHist;

    // Test to check if a candidate region is a real face

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

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

    void thread_checkIfFacePlaneCov();

    static void dummy_checkIfFacePlaneCov(CFaceDetection* obj);

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

    void thread_checkIfFaceRegions();

    static void dummy_checkIfFaceRegions(CFaceDetection* obj);

    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);

    static void dummy_checkIfDiagonalSurface(CFaceDetection* obj);

    // Experimental methods to view 3D points

    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::CVectorFixedDouble<3>>& pointsVector,
        const mrpt::math::CMatrixDouble& eigenVect,
        const std::vector<double>& eigenVal);

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

    // Segmentation methods
    void experimental_segmentFace(
        const mrpt::obs::CObservation3DRangeScan& face,
        mrpt::math::CMatrixDynamic<bool>& region);

    // Histogram methods
    void experimental_calcHist(
        const mrpt::img::CImage& face, size_t c1, size_t r1, size_t c2,
        size_t r2, mrpt::math::CMatrixDynamic<unsigned int>& hist);

};  // End of class
}  // namespace detectors
}  // namespace mrpt