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10 #ifndef CFaceDetection_H
11 #define CFaceDetection_H
static void dummy_checkIfFacePlaneCov(CFaceDetection *obj)
mrpt::math::CVectorDouble lessEigenVals
double planeTest_eigenVal_top
bool checkIfDiagonalSurface(mrpt::obs::CObservation3DRangeScan *face)
std::vector< uint32_t > vector_uint
std::vector< double > m_meanHist
mrpt::synch::CSemaphore m_enter_checkIfFaceRegions
Indicates to thread_checkIfFaceRegions that exist a new face to analyze.
Column vector, like Eigen::MatrixX*, but automatically initialized to zeros since construction.
Specific class for face detection.
void debug_returnResults(const vector_uint &falsePositives, const vector_uint &ignore, unsigned int &falsePositivesDeleted, unsigned int &realFacesDeleted)
double planeTest_eigenVal_bottom
vector_uint deletedRegions
bool saveMeasurementsToFile
bool m_checkIfFacePlaneCov_res
Save result of checkIfFacePlaneCov filter.
mrpt::math::CVectorDouble meanRegions
std::vector< CDetectableObjectPtr > vector_detectable_object
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void experimental_viewRegions(const std::vector< mrpt::math::TPoint3D > regions[9], const mrpt::math::TPoint3D meanPos[3][3])
mrpt::math::CVectorDouble errorEstimations
double regionsTest_sumDistThreshold_top
A class for storing images as grayscale or RGB bitmaps.
void thread_checkIfFacePlaneCov()
A versatile "profiler" that logs the time spent within each pair of calls to enter(X)-leave(X),...
bool useDiagonalDistanceFilter
bool m_checkIfDiagonalSurface_res
Save result of checkIfDiagonalSurface filter.
bool m_checkIfFaceRegions_res
Save result of checkIfFaceRegions filter.
mrpt::math::CVectorDouble sumDistances
CCascadeClassifierDetection cascadeClassifier
mrpt::synch::CSemaphore m_enter_checkIfDiagonalSurface
Indicates to thread_checkIfDiagonalSurface that exist a new face to analyze.
static void dummy_checkIfFaceRegions(CFaceDetection *obj)
A semaphore for inter-thread synchronization.
void experimental_segmentFace(const mrpt::obs::CObservation3DRangeScan &face, mrpt::math::CMatrixTemplate< bool > ®ion)
void experimental_viewFacePointsScanned(const std::vector< float > &xs, const std::vector< float > &ys, const std::vector< float > &zs)
mrpt::system::TThreadHandle m_thread_checkIfFacePlaneCov
Thread that execute checkIfFacePlaneCov filter.
mrpt::system::TThreadHandle m_thread_checkIfFaceRegions
Thread that execute checkIfFaceRegions filter.
void experimental_viewFacePointsScanned(const mrpt::obs::CObservation3DRangeScan &face)
bool m_end_threads
Indicates to all threads that must finish their execution.
mrpt::synch::CSemaphore m_leave_checkIfFacePlaneCov
Indicates to main thread that thread_checkIfFacePlaneCov has been completed analisis of the last face...
mrpt::synch::CSemaphore m_leave_checkIfDiagonalSurface
Indicates to main thread that thread_checkIfDiagonalSurface has been completed analisis of the last f...
bool useSizeDistanceRelationFilter
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement,...
bool checkIfFacePlane(mrpt::obs::CObservation3DRangeScan *face)
This class allows loading and storing values and vectors of different types from a configuration text...
void thread_checkIfFaceRegions()
mrpt::obs::CObservation3DRangeScan m_lastFaceDetected
Last face detected.
bool checkIfFacePlaneCov(mrpt::obs::CObservation3DRangeScan *face)
size_t checkRelativePosition(const mrpt::math::TPoint3D &p1, const mrpt::math::TPoint3D &p2, const mrpt::math::TPoint3D &p, double &dist)
void experimental_showMeasurements()
This structure contains the information needed to interface the threads API on each platform:
void thread_checkIfDiagonalSurface()
virtual void init(const mrpt::utils::CConfigFileBase &cfg)
Initialize the object with parameters loaded from the given config source.
bool checkIfDiagonalSurface2(mrpt::obs::CObservation3DRangeScan *face)
mrpt::system::TThreadHandle m_thread_checkIfDiagonalSurface
Thread that execute checkIfDiagonalSurface filter.
void experimental_viewFacePointsScanned(const std::vector< mrpt::math::TPoint3D > &points)
virtual void detectObjects_Impl(const mrpt::obs::CObservation *obs, vector_detectable_object &detected)
bool checkIfFaceRegions(mrpt::obs::CObservation3DRangeScan *face)
Declares a class that represents any robot's observation.
mrpt::synch::CSemaphore m_enter_checkIfFacePlaneCov
Indicates to thread_checkIfFacePlaneCov that exist a new face to analyze.
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)
mrpt::utils::CTimeLogger m_timeLog
mrpt::synch::CSemaphore m_leave_checkIfFaceRegions
Indicates to main thread that thread_checkIfFaceRegions has been completed analisis of the last face ...
int numPossibleFacesDetected
void experimental_viewFacePointsAndEigenVects(const std::vector< mrpt::math::CArrayDouble< 3 > > &pointsVector, const mrpt::math::CMatrixDouble &eigenVect, const mrpt::math::CVectorDouble &eigenVal)
double regionsTest_sumDistThreshold_bottom
static void dummy_checkIfDiagonalSurface(CFaceDetection *obj)
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