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 ()
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

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

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

Constructor & Destructor Documentation

CFaceDetection()

CFaceDetection::CFaceDetection

(

)

Definition at line 45 of file CFaceDetection.cpp.

~CFaceDetection()

CFaceDetection::~CFaceDetection

(

)

Definition at line 58 of file CFaceDetection.cpp.

Member Function Documentation

checkIfDiagonalSurface()

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

private

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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checkIfDiagonalSurface2()

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

private

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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checkIfFacePlane()

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

private

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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checkIfFacePlaneCov()

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

private

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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checkIfFaceRegions()

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

private

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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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 793 of file CFaceDetection.cpp.

References mrpt::math::TPoint3D_data< T >::x, and mrpt::math::TPoint3D_data< T >::y.

debug_returnResults()

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.

detectObjects() [1/3]

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

inlineinherited

Definition at line 36 of file CObjectDetection.h.

References mrpt::detectors::CObjectDetection::detectObjects_Impl().

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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.

References mrpt::detectors::CObjectDetection::detectObjects_Impl().

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detectObjects() [3/3]

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

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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detectObjects_Impl()

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

overridevirtual

Implements mrpt::detectors::CObjectDetection.

Definition at line 132 of file CFaceDetection.cpp.

References IS_CLASS, MRPT_END, and MRPT_START.

dummy_checkIfDiagonalSurface()

void CFaceDetection::dummy_checkIfDiagonalSurface ( CFaceDetection *  obj )

staticprivate

Definition at line 825 of file CFaceDetection.cpp.

References thread_checkIfDiagonalSurface().

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dummy_checkIfFacePlaneCov()

void CFaceDetection::dummy_checkIfFacePlaneCov ( CFaceDetection *  obj )

staticprivate

Definition at line 351 of file CFaceDetection.cpp.

References thread_checkIfFacePlaneCov().

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dummy_checkIfFaceRegions()

void CFaceDetection::dummy_checkIfFaceRegions ( CFaceDetection *  obj )

staticprivate

Definition at line 477 of file CFaceDetection.cpp.

References thread_checkIfFaceRegions().

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experimental_calcHist()

void CFaceDetection::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  )

private

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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experimental_segmentFace()

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

private

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.

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experimental_showMeasurements()

void CFaceDetection::experimental_showMeasurements

(

)

Definition at line 1807 of file CFaceDetection.cpp.

References mrpt::math::meanAndStd(), and mrpt::system::pause().

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experimental_viewFacePointsAndEigenVects()

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

private

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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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 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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experimental_viewFacePointsScanned() [2/3]

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

private

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.

experimental_viewFacePointsScanned() [3/3]

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

private

Definition at line 1366 of file CFaceDetection.cpp.

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 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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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 26 of file CObjectDetection.h.

init() [2/2]

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

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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thread_checkIfDiagonalSurface()

void CFaceDetection::thread_checkIfDiagonalSurface ( )

private

Definition at line 830 of file CFaceDetection.cpp.

Referenced by dummy_checkIfDiagonalSurface().

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thread_checkIfFacePlaneCov()

void CFaceDetection::thread_checkIfFacePlaneCov ( )

private

Definition at line 356 of file CFaceDetection.cpp.

Referenced by dummy_checkIfFacePlaneCov().

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thread_checkIfFaceRegions()

void CFaceDetection::thread_checkIfFaceRegions ( )

private

Definition at line 482 of file CFaceDetection.cpp.

Referenced by dummy_checkIfFaceRegions().

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Member Data Documentation

cascadeClassifier

CCascadeClassifierDetection mrpt::detectors::CFaceDetection::cascadeClassifier

Definition at line 34 of file CFaceDetection.h.

m_checkIfDiagonalSurface_res

bool mrpt::detectors::CFaceDetection::m_checkIfDiagonalSurface_res

private

Save result of checkIfDiagonalSurface filter.

Definition at line 91 of file CFaceDetection.h.

m_checkIfFacePlaneCov_res

bool mrpt::detectors::CFaceDetection::m_checkIfFacePlaneCov_res

private

Save result of checkIfFacePlaneCov filter.

Definition at line 89 of file CFaceDetection.h.

m_checkIfFaceRegions_res

bool mrpt::detectors::CFaceDetection::m_checkIfFaceRegions_res

private

Save result of checkIfFaceRegions filter.

Definition at line 87 of file CFaceDetection.h.

m_end_threads

bool mrpt::detectors::CFaceDetection::m_end_threads {false}

private

Indicates to all threads that must finish their execution.

Definition at line 94 of file CFaceDetection.h.

m_enter_checkIfDiagonalSurface

std::promise<void> mrpt::detectors::CFaceDetection::m_enter_checkIfDiagonalSurface

private

Indicates to thread_checkIfDiagonalSurface that exist a new face to analyze.

Definition at line 104 of file CFaceDetection.h.

m_enter_checkIfFacePlaneCov

std::promise<void> mrpt::detectors::CFaceDetection::m_enter_checkIfFacePlaneCov

private

Indicates to thread_checkIfFacePlaneCov that exist a new face to analyze.

Definition at line 101 of file CFaceDetection.h.

m_enter_checkIfFaceRegions

std::promise<void> mrpt::detectors::CFaceDetection::m_enter_checkIfFaceRegions

private

Indicates to thread_checkIfFaceRegions that exist a new face to analyze.

Definition at line 98 of file CFaceDetection.h.

m_lastFaceDetected

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

private

Last face detected.

Definition at line 117 of file CFaceDetection.h.

m_leave_checkIfDiagonalSurface

std::promise<void> 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 114 of file CFaceDetection.h.

m_leave_checkIfFacePlaneCov

std::promise<void> 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 111 of file CFaceDetection.h.

m_leave_checkIfFaceRegions

std::promise<void> 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 108 of file CFaceDetection.h.

m_meanHist

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

private

Definition at line 143 of file CFaceDetection.h.

m_measure

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

private

m_options

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

m_testsOptions

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

m_thread_checkIfDiagonalSurface

std::thread mrpt::detectors::CFaceDetection::m_thread_checkIfDiagonalSurface

private

Thread that execute checkIfDiagonalSurface filter.

Definition at line 84 of file CFaceDetection.h.

m_thread_checkIfFacePlaneCov

std::thread mrpt::detectors::CFaceDetection::m_thread_checkIfFacePlaneCov

private

Thread that execute checkIfFacePlaneCov filter.

Definition at line 82 of file CFaceDetection.h.

m_thread_checkIfFaceRegions

std::thread mrpt::detectors::CFaceDetection::m_thread_checkIfFaceRegions

private

Thread that execute checkIfFaceRegions filter.

Definition at line 80 of file CFaceDetection.h.

m_timeLog

mrpt::system::CTimeLogger mrpt::detectors::CFaceDetection::m_timeLog

private

Definition at line 141 of file CFaceDetection.h.