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<div class="title">CFaceDetection.h</div> </div>
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<a href="_c_face_detection_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef CFaceDetection_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define CFaceDetection_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_object_detection_8h.html">mrpt/detectors/CObjectDetection.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_cascade_classifier_detection_8h.html">mrpt/detectors/CCascadeClassifierDetection.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_time_logger_8h.html">mrpt/utils/CTimeLogger.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="system_8h.html">mrpt/system.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="synch_8h.html">mrpt/synch.h</a>></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include <<a class="code" href="_c_observation3_d_range_scan_8h.html">mrpt/slam/CObservation3DRangeScan.h</a>></span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="keyword">namespace </span>mrpt
<a name="l00040"></a>00040 {
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="keyword">namespace </span>slam { <span class="keyword">class </span>CObservation3DRangeScan; }
<a name="l00043"></a>00043 <span class="comment"></span>
<a name="l00044"></a>00044 <span class="comment"> /** \ingroup mrpt_detectors_grp */</span>
<a name="l00045"></a>00045 <span class="keyword">namespace </span>detectors
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047 <span class="keyword">using namespace </span>mrpt::slam;
<a name="l00048"></a>00048 <span class="keyword">using namespace </span>mrpt::system;
<a name="l00049"></a>00049 <span class="keyword">using namespace </span>mrpt::synch;
<a name="l00050"></a>00050 <span class="comment"></span>
<a name="l00051"></a>00051 <span class="comment"> /** Specific class for face detection.</span>
<a name="l00052"></a>00052 <span class="comment"> * Methods and variables labeled as experimentals are temporals (for debug or testing</span>
<a name="l00053"></a>00053 <span class="comment"> * purposes) and may disappear in future versions.</span>
<a name="l00054"></a>00054 <span class="comment"> * \ingroup mrpt_detectors_grp</span>
<a name="l00055"></a>00055 <span class="comment"> */</span>
<a name="l00056"></a>00056 <span class="keyword">class </span><a class="code" href="detectors_2include_2mrpt_2detectors_2link__pragmas_8h.html#ae00c8cbe5f2c28b86dc1d62ebb3c5919">DETECTORS_IMPEXP</a> CFaceDetection: <span class="keyword">public</span> CObjectDetection
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 <span class="keyword">public</span>:
<a name="l00059"></a>00059
<a name="l00060"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a775887b033724c52c2fa26a852e15ba4">00060</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_cascade_classifier_detection.html">CCascadeClassifierDetection</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a775887b033724c52c2fa26a852e15ba4">cascadeClassifier</a>;
<a name="l00061"></a>00061
<a name="l00062"></a>00062 <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html" title="Specific class for face detection.">CFaceDetection</a>();
<a name="l00063"></a>00063
<a name="l00064"></a>00064 ~<a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html" title="Specific class for face detection.">CFaceDetection</a>();
<a name="l00065"></a>00065
<a name="l00066"></a>00066 <span class="keyword">virtual</span> <span class="keywordtype">void</span> init(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">mrpt::utils::CConfigFileBase</a> &cfg );
<a name="l00067"></a>00067
<a name="l00068"></a>00068 <span class="keyword">virtual</span> <span class="keywordtype">void</span> detectObjects_Impl(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">CObservation</a> *obs, <a class="code" href="classstd_1_1vector.html" title="STL class.">vector_detectable_object</a> &detected);
<a name="l00069"></a>00069
<a name="l00070"></a>00070 <span class="keyword">struct </span><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_options.html">TOptions</a>
<a name="l00071"></a>00071 {
<a name="l00072"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_options.html#ad9fc19bd4d8f8e1fc69f8ac5c4116d1c">00072</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_options.html#ad9fc19bd4d8f8e1fc69f8ac5c4116d1c">confidenceThreshold</a>;
<a name="l00073"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_options.html#aba60d80f37bf8a26c9d079d01eb70036">00073</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_options.html#aba60d80f37bf8a26c9d079d01eb70036">multithread</a>;
<a name="l00074"></a>00074
<a name="l00075"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_options.html#a4dca55e78e19361c3908127cda8a40dd">00075</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_options.html#a4dca55e78e19361c3908127cda8a40dd">useCovFilter</a>;
<a name="l00076"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_options.html#a61f6a82eaa532370112c2773f5701384">00076</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_options.html#a61f6a82eaa532370112c2773f5701384">useRegionsFilter</a>;
<a name="l00077"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_options.html#ad77ab20c9e6ec4c6654aeb288c4841c6">00077</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_options.html#ad77ab20c9e6ec4c6654aeb288c4841c6">useSizeDistanceRelationFilter</a>;
<a name="l00078"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_options.html#ae09b9bcb589a0eed200bf4744596b484">00078</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_options.html#ae09b9bcb589a0eed200bf4744596b484">useDiagonalDistanceFilter</a>;
<a name="l00079"></a>00079
<a name="l00080"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_options.html#a66f6e5dd601609446d3f9f7592a7442a">00080</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_options.html#a66f6e5dd601609446d3f9f7592a7442a">batchMode</a>;
<a name="l00081"></a>00081
<a name="l00082"></a>00082 }m_options;
<a name="l00083"></a>00083
<a name="l00084"></a>00084 <span class="keyword">struct </span><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_tests_options.html">TTestsOptions</a>
<a name="l00085"></a>00085 {
<a name="l00086"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_tests_options.html#a50751d88165caf1b91a1c9ae668ca446">00086</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_tests_options.html#a50751d88165caf1b91a1c9ae668ca446">planeThreshold</a>;
<a name="l00087"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_tests_options.html#a9c62733f458e32eb370fd9f435fa920e">00087</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_tests_options.html#a9c62733f458e32eb370fd9f435fa920e">planeTest_eigenVal_top</a>;
<a name="l00088"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_tests_options.html#abf78a1f6fc8fa43f51ea59b11858b268">00088</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_tests_options.html#abf78a1f6fc8fa43f51ea59b11858b268">planeTest_eigenVal_bottom</a>;
<a name="l00089"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_tests_options.html#a7ee503a5452005bf64b2ad322960f238">00089</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_tests_options.html#a7ee503a5452005bf64b2ad322960f238">regionsTest_sumDistThreshold_top</a>;
<a name="l00090"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_tests_options.html#a0136b47dddaefd4cdd7e90286d6330a0">00090</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_tests_options.html#a0136b47dddaefd4cdd7e90286d6330a0">regionsTest_sumDistThreshold_bottom</a>;
<a name="l00091"></a>00091
<a name="l00092"></a>00092 }m_testsOptions;
<a name="l00093"></a>00093
<a name="l00094"></a>00094 <span class="comment">// Experimental methods</span>
<a name="l00095"></a>00095 <span class="keywordtype">void</span> experimental_showMeasurements();
<a name="l00096"></a>00096
<a name="l00097"></a>00097 <span class="keywordtype">void</span> debug_returnResults( <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html" title="STL class.">vector_uint</a> &falsePositives, <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html" title="STL class.">vector_uint</a> &ignore, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> &falsePositivesDeleted, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> &realFacesDeleted );
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <span class="keyword">private</span>:
<a name="l00100"></a>00100
<a name="l00101"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a6934ee76271f73e7b572ef6eb8653eb3">00101</a> <a class="code" href="structmrpt_1_1system_1_1_t_thread_handle.html" title="This structure contains the information needed to interface the threads API on each platform:...">TThreadHandle</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a6934ee76271f73e7b572ef6eb8653eb3" title="Thread that execute checkIfFaceRegions filter.">m_thread_checkIfFaceRegions</a>; <span class="comment">//!< Thread that execute checkIfFaceRegions filter</span>
<a name="l00102"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a474a6cbe03058cdc3c602b50a7f66c4d">00102</a> <span class="comment"></span> <a class="code" href="structmrpt_1_1system_1_1_t_thread_handle.html" title="This structure contains the information needed to interface the threads API on each platform:...">TThreadHandle</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a474a6cbe03058cdc3c602b50a7f66c4d" title="Thread that execute checkIfFacePlaneCov filter.">m_thread_checkIfFacePlaneCov</a>; <span class="comment">//!< Thread that execute checkIfFacePlaneCov filter</span>
<a name="l00103"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a4d67ef07476c4649020113c99a6cdf2a">00103</a> <span class="comment"></span> <a class="code" href="structmrpt_1_1system_1_1_t_thread_handle.html" title="This structure contains the information needed to interface the threads API on each platform:...">TThreadHandle</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a4d67ef07476c4649020113c99a6cdf2a" title="Thread that execute checkIfDiagonalSurface filter.">m_thread_checkIfDiagonalSurface</a>; <span class="comment">//!< Thread that execute checkIfDiagonalSurface filter</span>
<a name="l00104"></a>00104 <span class="comment"></span>
<a name="l00105"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a03081a53aea351f1443198a14af5878e">00105</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a03081a53aea351f1443198a14af5878e" title="Save result of checkIfFaceRegions filter.">m_checkIfFaceRegions_res</a>; <span class="comment">//!< Save result of checkIfFaceRegions filter</span>
<a name="l00106"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#ab015fcf2abc620bbfad90ac471680cee">00106</a> <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#ab015fcf2abc620bbfad90ac471680cee" title="Save result of checkIfFacePlaneCov filter.">m_checkIfFacePlaneCov_res</a>; <span class="comment">//!< Save result of checkIfFacePlaneCov filter</span>
<a name="l00107"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#ae7d158e57195e06ea4c8effc1e967418">00107</a> <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#ae7d158e57195e06ea4c8effc1e967418" title="Save result of checkIfDiagonalSurface filter.">m_checkIfDiagonalSurface_res</a>; <span class="comment">//!< Save result of checkIfDiagonalSurface filter</span>
<a name="l00108"></a>00108 <span class="comment"></span>
<a name="l00109"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a8e305082675b8ca7a410e00347614238">00109</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a8e305082675b8ca7a410e00347614238" title="Indicates to all threads that must finish their execution.">m_end_threads</a>; <span class="comment">//!< Indicates to all threads that must finish their execution</span>
<a name="l00110"></a>00110 <span class="comment"></span>
<a name="l00111"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a9454ddd85a25cfb05bf2fa0813ffe114">00111</a> <a class="code" href="classmrpt_1_1synch_1_1_c_semaphore.html" title="A semaphore for inter-thread synchronization.">CSemaphore</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a9454ddd85a25cfb05bf2fa0813ffe114" title="Indicates to thread_checkIfFaceRegions that exist a new face to analyze.">m_enter_checkIfFaceRegions</a>; <span class="comment">//!< Indicates to thread_checkIfFaceRegions that exist a new face to analyze</span>
<a name="l00112"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#ab97fff0c0f72ac86c0f143a33f66df77">00112</a> <span class="comment"></span> <a class="code" href="classmrpt_1_1synch_1_1_c_semaphore.html" title="A semaphore for inter-thread synchronization.">CSemaphore</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#ab97fff0c0f72ac86c0f143a33f66df77" title="Indicates to thread_checkIfFacePlaneCov that exist a new face to analyze.">m_enter_checkIfFacePlaneCov</a>; <span class="comment">//!< Indicates to thread_checkIfFacePlaneCov that exist a new face to analyze</span>
<a name="l00113"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a2b179cca0a4eb23ba0e85aef13ae0000">00113</a> <span class="comment"></span> <a class="code" href="classmrpt_1_1synch_1_1_c_semaphore.html" title="A semaphore for inter-thread synchronization.">CSemaphore</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a2b179cca0a4eb23ba0e85aef13ae0000" title="Indicates to thread_checkIfDiagonalSurface that exist a new face to analyze.">m_enter_checkIfDiagonalSurface</a>; <span class="comment">//!< Indicates to thread_checkIfDiagonalSurface that exist a new face to analyze</span>
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a06377180de2aa28fb30bc7a2b7f7c94d">00115</a> <a class="code" href="classmrpt_1_1synch_1_1_c_semaphore.html" title="A semaphore for inter-thread synchronization.">CSemaphore</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a06377180de2aa28fb30bc7a2b7f7c94d" title="Indicates to main thread that thread_checkIfFaceRegions has been completed analisis of the last face ...">m_leave_checkIfFaceRegions</a>; <span class="comment">//!< Indicates to main thread that thread_checkIfFaceRegions has been completed analisis of the last face detected</span>
<a name="l00116"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a1ca2c6805bd444290c526bfe3d992734">00116</a> <span class="comment"></span> <a class="code" href="classmrpt_1_1synch_1_1_c_semaphore.html" title="A semaphore for inter-thread synchronization.">CSemaphore</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a1ca2c6805bd444290c526bfe3d992734" title="Indicates to main thread that thread_checkIfFacePlaneCov has been completed analisis of the last face...">m_leave_checkIfFacePlaneCov</a>; <span class="comment">//!< Indicates to main thread that thread_checkIfFacePlaneCov has been completed analisis of the last face detected</span>
<a name="l00117"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#ad963b6aa0be90348c01cd9ed2b2ff7a4">00117</a> <span class="comment"></span> <a class="code" href="classmrpt_1_1synch_1_1_c_semaphore.html" title="A semaphore for inter-thread synchronization.">CSemaphore</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#ad963b6aa0be90348c01cd9ed2b2ff7a4" title="Indicates to main thread that thread_checkIfDiagonalSurface has been completed analisis of the last f...">m_leave_checkIfDiagonalSurface</a>; <span class="comment">//!< Indicates to main thread that thread_checkIfDiagonalSurface has been completed analisis of the last face detected</span>
<a name="l00118"></a>00118 <span class="comment"></span>
<a name="l00119"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a263ae252d659ad2005d8214be310bed3">00119</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html" title="Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e...">CObservation3DRangeScan</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a263ae252d659ad2005d8214be310bed3" title="Last face detected.">m_lastFaceDetected</a>; <span class="comment">//!< Last face detected</span>
<a name="l00120"></a>00120 <span class="comment"></span>
<a name="l00121"></a>00121 <span class="keyword">struct </span><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html">TMeasurement</a>
<a name="l00122"></a>00122 {
<a name="l00123"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#ad87a5ac994cbf394b2dfc9aa3bf1d5b5">00123</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#ad87a5ac994cbf394b2dfc9aa3bf1d5b5">takeMeasures</a>;
<a name="l00124"></a>00124
<a name="l00125"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#a1165e170826a8948fb14499abc66acf1">00125</a> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#a1165e170826a8948fb14499abc66acf1">lessEigenVals</a>;
<a name="l00126"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#a13effa448b3669e9337b5932da4e6d6f">00126</a> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#a13effa448b3669e9337b5932da4e6d6f">errorEstimations</a>;
<a name="l00127"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#ae6531c0d490db5fbb7497fb87f01b82a">00127</a> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#ae6531c0d490db5fbb7497fb87f01b82a">meanRegions</a>;
<a name="l00128"></a>00128
<a name="l00129"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#a87e1ffafa6f06416035e4063ddb0620f">00129</a> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#a87e1ffafa6f06416035e4063ddb0620f">sumDistances</a>;
<a name="l00130"></a>00130
<a name="l00131"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#a7fc7a9e8d96fe73143c78aba3f4f45a7">00131</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#a7fc7a9e8d96fe73143c78aba3f4f45a7">faceNum</a>;
<a name="l00132"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#acc02d27a8098a24d20c600cd45f6d545">00132</a> <a class="code" href="classstd_1_1vector.html" title="STL class.">vector_uint</a> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#acc02d27a8098a24d20c600cd45f6d545">deletedRegions</a>;
<a name="l00133"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#a8e9a577e279ec229fb4356ddec09dc75">00133</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#a8e9a577e279ec229fb4356ddec09dc75">numPossibleFacesDetected</a>;
<a name="l00134"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#ad3ad5516f99d8dafa13274d994a1fee5">00134</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#ad3ad5516f99d8dafa13274d994a1fee5">numRealFacesDetected</a>;
<a name="l00135"></a>00135
<a name="l00136"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#aaaf04eaf7cb8f5a26a6e9e076182b2b4">00136</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#aaaf04eaf7cb8f5a26a6e9e076182b2b4">takeTime</a>;
<a name="l00137"></a>00137
<a name="l00138"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#a60c89d8d5be87eb0df7114bfd1bc8efb">00138</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1detectors_1_1_c_face_detection_1_1_t_measurement.html#a60c89d8d5be87eb0df7114bfd1bc8efb">saveMeasurementsToFile</a>;
<a name="l00139"></a>00139
<a name="l00140"></a>00140 }m_measure;
<a name="l00141"></a>00141
<a name="l00142"></a>00142 <span class="comment">// To take measures abaout execution time</span>
<a name="l00143"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#ac908a0d707de23c7d26cb96e5d48054f">00143</a> <a class="code" href="classmrpt_1_1utils_1_1_c_time_logger.html" title="A versatile "profiler" that logs the time spent within each pair of calls to enter(X)-leave(X), among other stats.">CTimeLogger</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#ac908a0d707de23c7d26cb96e5d48054f">m_timeLog</a>;
<a name="l00144"></a>00144
<a name="l00145"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a4d67ad8b4ac213e2254a7985a01813c1">00145</a> std<a class="code" href="classstd_1_1vector.html">::vector<double></a> <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html#a4d67ad8b4ac213e2254a7985a01813c1">m_meanHist</a>;
<a name="l00146"></a>00146
<a name="l00147"></a>00147
<a name="l00148"></a>00148 <span class="comment">// Test to check if a candidate region is a real face</span>
<a name="l00149"></a>00149
<a name="l00150"></a>00150 <span class="keywordtype">bool</span> checkIfFacePlane( <a class="code" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html" title="Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e...">CObservation3DRangeScan</a>* face );
<a name="l00151"></a>00151
<a name="l00152"></a>00152 <span class="keywordtype">bool</span> checkIfFacePlaneCov( <a class="code" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html" title="Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e...">CObservation3DRangeScan</a>* face );
<a name="l00153"></a>00153
<a name="l00154"></a>00154 <span class="keywordtype">void</span> thread_checkIfFacePlaneCov( );
<a name="l00155"></a>00155
<a name="l00156"></a>00156 <span class="keyword">static</span> <span class="keywordtype">void</span> dummy_checkIfFacePlaneCov( <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html" title="Specific class for face detection.">CFaceDetection</a> *obj );
<a name="l00157"></a>00157
<a name="l00158"></a>00158
<a name="l00159"></a>00159 <span class="keywordtype">bool</span> checkIfFaceRegions( <a class="code" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html" title="Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e...">CObservation3DRangeScan</a>* face );
<a name="l00160"></a>00160
<a name="l00161"></a>00161 <span class="keywordtype">void</span> thread_checkIfFaceRegions( );
<a name="l00162"></a>00162
<a name="l00163"></a>00163 <span class="keyword">static</span> <span class="keywordtype">void</span> dummy_checkIfFaceRegions( <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html" title="Specific class for face detection.">CFaceDetection</a> *obj );
<a name="l00164"></a>00164
<a name="l00165"></a>00165 <span class="keywordtype">size_t</span> checkRelativePosition( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p1, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p2, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &p, <span class="keywordtype">double</span> &dist );
<a name="l00166"></a>00166
<a name="l00167"></a>00167
<a name="l00168"></a>00168 <span class="keywordtype">void</span> thread_checkIfDiagonalSurface( );
<a name="l00169"></a>00169
<a name="l00170"></a>00170 <span class="keywordtype">bool</span> checkIfDiagonalSurface( <a class="code" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html" title="Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e...">CObservation3DRangeScan</a>* face );
<a name="l00171"></a>00171
<a name="l00172"></a>00172 <span class="keywordtype">bool</span> checkIfDiagonalSurface2( <a class="code" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html" title="Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e...">CObservation3DRangeScan</a>* face );
<a name="l00173"></a>00173
<a name="l00174"></a>00174 <span class="keyword">static</span> <span class="keywordtype">void</span> dummy_checkIfDiagonalSurface( <a class="code" href="classmrpt_1_1detectors_1_1_c_face_detection.html" title="Specific class for face detection.">CFaceDetection</a> *obj );
<a name="l00175"></a>00175
<a name="l00176"></a>00176 <span class="comment">// Experimental methods to view 3D points</span>
<a name="l00177"></a>00177
<a name="l00178"></a>00178 <span class="keywordtype">void</span> experimental_viewFacePointsScanned( <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<float></a> &xs, <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<float></a> &ys, <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<float></a> &zs );
<a name="l00179"></a>00179
<a name="l00180"></a>00180 <span class="keywordtype">void</span> experimental_viewFacePointsScanned( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html" title="Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e...">CObservation3DRangeScan</a> &face );
<a name="l00181"></a>00181
<a name="l00182"></a>00182 <span class="keywordtype">void</span> experimental_viewFacePointsScanned( <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<TPoint3D></a> &points );
<a name="l00183"></a>00183
<a name="l00184"></a>00184 <span class="keywordtype">void</span> experimental_viewFacePointsAndEigenVects( <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html" title="STL class.">std::vector</a><<a class="code" href="classmrpt_1_1math_1_1_c_array_double.html">CArrayDouble<3></a> > &pointsVector, <span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixDouble</a> &eigenVect, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> &eigenVal );
<a name="l00185"></a>00185
<a name="l00186"></a>00186 <span class="keywordtype">void</span> experimental_viewRegions( <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">std::vector<TPoint3D></a> regions[9], <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> meanPos[3][3] );
<a name="l00187"></a>00187
<a name="l00188"></a>00188 <span class="comment">// Segmentation methods</span>
<a name="l00189"></a>00189
<a name="l00190"></a>00190 <span class="keywordtype">void</span> experimental_segmentFace( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html" title="Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e...">CObservation3DRangeScan</a> &face, <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template.html">CMatrixTemplate<bool></a> &region );
<a name="l00191"></a>00191
<a name="l00192"></a>00192 <span class="comment">// Histogram methods</span>
<a name="l00193"></a>00193
<a name="l00194"></a>00194 <span class="keywordtype">void</span> experimental_calcHist( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> &face, <span class="keyword">const</span> <span class="keywordtype">size_t</span> &c1, <span class="keyword">const</span> <span class="keywordtype">size_t</span> &r1, <span class="keyword">const</span> <span class="keywordtype">size_t</span> &c2,
<a name="l00195"></a>00195 <span class="keyword">const</span> <span class="keywordtype">size_t</span> &r2, <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template.html" title="This template class provides the basic functionality for a general 2D any-size, resizable container o...">CMatrixTemplate<unsigned int></a> &hist );
<a name="l00196"></a>00196
<a name="l00197"></a>00197
<a name="l00198"></a>00198
<a name="l00199"></a>00199 }; <span class="comment">// End of class</span>
<a name="l00200"></a>00200 }
<a name="l00201"></a>00201
<a name="l00202"></a>00202 }
<a name="l00203"></a>00203
<a name="l00204"></a>00204 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
