Module based on kinectClient "Kinect Wrapper Client" that track and recognize people. More...

Collaboration diagram for agentDetector:

Classes
class	AgentDetector

Enumerations
enum	clickType { idle, clicked_left, clicked_right }

Detailed Description

Module based on kinectClient "Kinect Wrapper Client" that track and recognize people.

Version:1.0

Author: Stéphane Lallée steph.nosp@m.ane..nosp@m.lalle.nosp@m.e@gm.nosp@m.ail.c.nosp@m.om

Copyright: Released under the terms of the GNU GPL v2.0

Description

Module based on kinectClient "Kinect Wrapper Client" that tracks people. This module receives information from the Kinect Wrapper, and convert joints to the iCub referential. It requires the kinectServer, OPC and RFH running.

Parameters

–name: To specify the module's name; all the open ports will be tagged with the prefix /name
–from: To specify the configuration file
–context: To specify the default context where config files are loader
–period: period of acquisition in seconds
–opc: To specify the specifies the opc database name, where data are readed
–showImages: to have GUI with depth, images, joints, ...
–showMode: to select which images to show, as a sum of available types: rgb, depth, skeleton, players
–x: x position of the images as a group
–y: y position of the images as a group
–x-rgb: x position of the rgb image
–y-rgb: y position of the rgb image
–x-depth: x position of the depth image
–y-depth: y position of the depth image
–x-skeleton: x position of the skeleton image
–y-skeleton: y position of the skeleton image
–x-players: x position of the players image
–y-players: y position of the players image

Input Ports

/agentDetector/rpc [Bottle] [default carrier:tcp]: Response port. Supported commands:
- change_partner_name NAME_STRING: change the name of partner
- pause: lock with mutex
- resume: unlock the mutex

Output Ports

/agentDetector/skeleton:o [yarp::sig::Bottle] [default carrier:tcp]: buffered port streaming out skeleton properties
/agentDetector/kinect/depthPort:o [yarp::sig::ImageOf] [default carrier:udp]: buffered port streaming out depth images
/agentDetector/kinect/imagePort:o [yarp::sig::ImageOf] [default carrier:udp]: buffered port streaming out images
/agentDetector/kinect/playerPort:o [yarp::sig::ImageOf] [default carrier:udp]: buffered port streaming out partner images
/agentDetector/kinect/skeletonPort:o [yarp::sig::ImageOf] [default carrier:udp]: buffered port streaming out skeleton images
/agentDetector/kinect/agentLoc:o [yarp::sig::Bottle] [default carrier:tcp]: buffered port streaming out agent location
/agentDetector/rfh:o [rpc] [default carrier:tcp]: port to communicate with referenceFrameHandler rpc server

Services

Class Documentation

◆ AgentDetector

class AgentDetector

Definition at line 46 of file AgentDetector.h.

Inheritance diagram for AgentDetector:

Public Member Functions
bool	configure (ResourceFinder &rf)

bool	checkCalibration ()

bool	close ()

bool	respond (const Bottle &cmd, Bottle &reply)

double	getPeriod ()

bool	updateModule ()

void	setIdentity (Player p, string name)
	setIdentity Set identity to a partner More...

string	getIdentity (Player p)
	getIdentity Obtain identity of partner More...

Vector	transform2IR (Vector v)
	transform2IR Transform a position to IR reference frame More...

Vector	getSkeletonPattern (Player p)
	getSkeletonPattern Obtain some properties of partner skeleton, such as eblow, shoulder, head position and size More...

Static Public Member Functions
static void	click_callback (int event, int x, int y, int flags, void *param)

Protected Member Functions
bool	showImageParser (string &mode, string &submode)

Protected Attributes
KinectWrapperClient	client
	kinect wrapper client object More...

ImageOf< PixelRgb >	rgb

ImageOf< PixelMono16 >	depth
	depth image in a Yarp format More...

ImageOf< PixelFloat >	depthToDisplay
	depth image to display in a Yarp format More...

ImageOf< PixelBgr >	playersImage
	partner image in a Yarp format More...

ImageOf< PixelBgr >	skeletonImage
	skeleton imange in a Yarp format More...

IplImage *	depthTmp

IplImage *	rgbTmp

yarp::os::BufferedPort< Bottle >	outputSkeletonPort
	Output Yarp Buffered Port of Bottle contains skeleton properties. More...

yarp::os::BufferedPort< yarp::sig::ImageOf< yarp::sig::PixelFloat > >	depthPort
	Output Yarp Buffered Port of images contains depth information. More...

yarp::os::BufferedPort< yarp::sig::ImageOf< yarp::sig::PixelRgb > >	imagePort
	Output Yarp Buffered Port of images contains images. More...

yarp::os::BufferedPort< yarp::sig::ImageOf< yarp::sig::PixelBgr > >	playersPort
	Output Yarp Buffered Port of partner images. More...

yarp::os::BufferedPort< yarp::sig::ImageOf< yarp::sig::PixelBgr > >	skeletonPort
	Output Yarp Buffered Port of skeleton images. More...

yarp::os::BufferedPort< Bottle >	agentLocOutPort
	Output Yarp Buffered Port of Bottle contains agent location. More...

double	period

bool	showImages

string	showMode
	string value of show mode of module: rgb, depth, skeleton, players More...

bool	handleMultiplePlayers
	boolean value for multiple players or not, if not, obtain only the closest player More...

Player	joint

deque< Player >	joints

Matrix	players

string	partner_default_name
	string value of default name of partner More...

OPCClient *	opc
	OPC client object. More...

Port	rfh
	port to referenceFrameHandler More...

Port	rpc
	rpc server port to receive requests More...

bool	isMounted
	boolean value to check if the IR is mounted or not More...

bool	isCalibrated
	boolean value to check if the kinect is calibrated or not More...

Matrix	kinect2icub
	conversion matrix from kinect frame to icub frame More...

Matrix	icub2ir

int	pointsCnt
	integer of number of points More...

Agent *	partner
	human as an agent object More...

map< int, string >	identities

map< string, Vector >	skeletonPatterns
	properties of skeleton obtained from kinect More...

double	dSince
	double value of timers More...

unsigned long	dTimingLastApparition
	time struct of the last appartition of an agent More...

double	dThresholdDisparition
	timing maximal of non-reconnaissance of a agent, after thath we consider the agent as absent More...

Mutex	m

Static Protected Attributes
static clickType	clicked =idle
	clicked type of object: left, right or nothing More...

static float	clickX =0.0F

static float	clickY =0.0F
	float value of clicked coordinate in x and y axes More...

Member Function Documentation

◆ checkCalibration()

bool AgentDetector::checkCalibration ( )

Definition at line 205 of file AgentDetector.cpp.

◆ click_callback()

static void AgentDetector::click_callback	(	int	event,
		int	x,
		int	y,
		int	flags,
		void *	param
	)

inlinestatic

Definition at line 143 of file AgentDetector.h.

◆ close()

bool AgentDetector::close ( )

Definition at line 234 of file AgentDetector.cpp.

◆ configure()

bool AgentDetector::configure ( ResourceFinder & rf )

Definition at line 28 of file AgentDetector.cpp.

◆ getIdentity()

string AgentDetector::getIdentity ( Player p )

getIdentity Obtain identity of partner

Parameters

p	A kinectWrapper Player struct of partner

Returns: string value of obtained identity

Definition at line 606 of file AgentDetector.cpp.

◆ getPeriod()

double AgentDetector::getPeriod ( )

Definition at line 285 of file AgentDetector.cpp.

◆ getSkeletonPattern()

Vector AgentDetector::getSkeletonPattern ( Player p )

getSkeletonPattern Obtain some properties of partner skeleton, such as eblow, shoulder, head position and size

Parameters

p	A kinectWrapper Player struct of partner

Returns: Yarp Vector contains properties

Definition at line 591 of file AgentDetector.cpp.

◆ respond()

bool AgentDetector::respond	(	const Bottle &	cmd,
		Bottle &	reply
	)

Definition at line 259 of file AgentDetector.cpp.

◆ setIdentity()

void AgentDetector::setIdentity	(	Player	p,
		string	name
	)

setIdentity Set identity to a partner

Parameters

p	A kinectWrapper Player struct of partner
name	string value of parner's name

◆ showImageParser()

bool AgentDetector::showImageParser	(	string &	mode,
		string &	submode
	)

protected

Definition at line 10 of file AgentDetector.cpp.

◆ transform2IR()

Vector AgentDetector::transform2IR ( Vector v )

transform2IR Transform a position to IR reference frame

Parameters

v	Yarp Vector of position

Returns: Yarp Vector of position in IR reference frame

Definition at line 643 of file AgentDetector.cpp.

◆ updateModule()

bool AgentDetector::updateModule ( )

Definition at line 290 of file AgentDetector.cpp.

Member Data Documentation

◆ agentLocOutPort

yarp::os::BufferedPort<Bottle> AgentDetector::agentLocOutPort

protected

Output Yarp Buffered Port of Bottle contains agent location.

Definition at line 64 of file AgentDetector.h.

◆ clicked

clickType AgentDetector::clicked =idle

staticprotected

clicked type of object: left, right or nothing

Definition at line 85 of file AgentDetector.h.

◆ clickX

float AgentDetector::clickX =0.0F

staticprotected

Definition at line 86 of file AgentDetector.h.

◆ clickY

float AgentDetector::clickY =0.0F

staticprotected

float value of clicked coordinate in x and y axes

Definition at line 86 of file AgentDetector.h.

◆ client

KinectWrapperClient AgentDetector::client

protected

kinect wrapper client object

Definition at line 50 of file AgentDetector.h.

◆ depth

ImageOf<PixelMono16> AgentDetector::depth

protected

depth image in a Yarp format

Definition at line 52 of file AgentDetector.h.

◆ depthPort

yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelFloat> > AgentDetector::depthPort

protected

Output Yarp Buffered Port of images contains depth information.

Definition at line 60 of file AgentDetector.h.

◆ depthTmp

IplImage* AgentDetector::depthTmp

protected

Definition at line 56 of file AgentDetector.h.

◆ depthToDisplay

ImageOf<PixelFloat> AgentDetector::depthToDisplay

protected

depth image to display in a Yarp format

Definition at line 53 of file AgentDetector.h.

◆ dSince

double AgentDetector::dSince

protected

double value of timers

Definition at line 92 of file AgentDetector.h.

◆ dThresholdDisparition

double AgentDetector::dThresholdDisparition

protected

timing maximal of non-reconnaissance of a agent, after thath we consider the agent as absent

Definition at line 95 of file AgentDetector.h.

◆ dTimingLastApparition

unsigned long AgentDetector::dTimingLastApparition

protected

time struct of the last appartition of an agent

Definition at line 94 of file AgentDetector.h.

◆ handleMultiplePlayers

bool AgentDetector::handleMultiplePlayers

protected

boolean value for multiple players or not, if not, obtain only the closest player

Definition at line 69 of file AgentDetector.h.

◆ icub2ir

Matrix AgentDetector::icub2ir

protected

Definition at line 82 of file AgentDetector.h.

◆ identities

map<int, string> AgentDetector::identities

protected

Definition at line 90 of file AgentDetector.h.

◆ imagePort

yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb> > AgentDetector::imagePort

protected

Output Yarp Buffered Port of images contains images.

Definition at line 61 of file AgentDetector.h.

◆ isCalibrated

bool AgentDetector::isCalibrated

protected

boolean value to check if the kinect is calibrated or not

Definition at line 80 of file AgentDetector.h.

◆ isMounted

bool AgentDetector::isMounted

protected

boolean value to check if the IR is mounted or not

Definition at line 79 of file AgentDetector.h.

◆ joint

Player AgentDetector::joint

protected

Definition at line 70 of file AgentDetector.h.

◆ joints

deque<Player> AgentDetector::joints

protected

Definition at line 71 of file AgentDetector.h.

◆ kinect2icub

Matrix AgentDetector::kinect2icub

protected

conversion matrix from kinect frame to icub frame

Definition at line 81 of file AgentDetector.h.

◆ m

Mutex AgentDetector::m

protected

Definition at line 97 of file AgentDetector.h.

◆ opc

OPCClient* AgentDetector::opc

protected

OPC client object.

Definition at line 76 of file AgentDetector.h.

◆ outputSkeletonPort

yarp::os::BufferedPort<Bottle> AgentDetector::outputSkeletonPort

protected

Output Yarp Buffered Port of Bottle contains skeleton properties.

Definition at line 59 of file AgentDetector.h.

◆ partner

Agent* AgentDetector::partner

protected

human as an agent object

Definition at line 89 of file AgentDetector.h.

◆ partner_default_name

string AgentDetector::partner_default_name

protected

string value of default name of partner

Definition at line 73 of file AgentDetector.h.

◆ period

double AgentDetector::period

protected

Definition at line 66 of file AgentDetector.h.

◆ players

Matrix AgentDetector::players

protected

Definition at line 72 of file AgentDetector.h.

◆ playersImage

ImageOf<PixelBgr> AgentDetector::playersImage

protected

partner image in a Yarp format

Definition at line 54 of file AgentDetector.h.

◆ playersPort

yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelBgr> > AgentDetector::playersPort

protected

Output Yarp Buffered Port of partner images.

Definition at line 62 of file AgentDetector.h.

◆ pointsCnt

int AgentDetector::pointsCnt

protected

integer of number of points

Definition at line 84 of file AgentDetector.h.

◆ rfh

Port AgentDetector::rfh

protected

port to referenceFrameHandler

Definition at line 77 of file AgentDetector.h.

◆ rgb

ImageOf<PixelRgb> AgentDetector::rgb

protected

Definition at line 51 of file AgentDetector.h.

◆ rgbTmp

IplImage* AgentDetector::rgbTmp

protected

Definition at line 57 of file AgentDetector.h.

◆ rpc

Port AgentDetector::rpc

protected

rpc server port to receive requests

Definition at line 78 of file AgentDetector.h.

◆ showImages

bool AgentDetector::showImages

protected

Definition at line 67 of file AgentDetector.h.

◆ showMode

string AgentDetector::showMode

protected

string value of show mode of module: rgb, depth, skeleton, players

Definition at line 68 of file AgentDetector.h.

◆ skeletonImage

ImageOf<PixelBgr> AgentDetector::skeletonImage

protected

skeleton imange in a Yarp format

Definition at line 55 of file AgentDetector.h.

◆ skeletonPatterns

map<string, Vector> AgentDetector::skeletonPatterns

protected

properties of skeleton obtained from kinect

Definition at line 91 of file AgentDetector.h.

◆ skeletonPort

yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelBgr> > AgentDetector::skeletonPort

protected

Output Yarp Buffered Port of skeleton images.

Definition at line 63 of file AgentDetector.h.

Enumeration Type Documentation

◆ clickType

enum clickType

Enumerator
idle
clicked_left
clicked_right

Definition at line 38 of file AgentDetector.h.

Classes

Enumerations

Detailed Description

Description

Parameters

Input Ports

Output Ports

Services

Class Documentation

◆ AgentDetector

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Member Function Documentation

◆ checkCalibration()

◆ click_callback()

◆ close()

◆ configure()

◆ getIdentity()

◆ getPeriod()

◆ getSkeletonPattern()

◆ respond()

◆ setIdentity()

◆ showImageParser()

◆ transform2IR()

◆ updateModule()

Member Data Documentation

◆ agentLocOutPort

◆ clicked

◆ clickX

◆ clickY

◆ client

◆ depth

◆ depthPort

◆ depthTmp

◆ depthToDisplay

◆ dSince

◆ dThresholdDisparition

◆ dTimingLastApparition

◆ handleMultiplePlayers

◆ icub2ir

◆ identities

◆ imagePort

◆ isCalibrated

◆ isMounted

◆ joint

◆ joints

◆ kinect2icub

◆ m

◆ opc

◆ outputSkeletonPort

◆ partner

◆ partner_default_name

◆ period

◆ players

◆ playersImage

◆ playersPort

◆ pointsCnt

◆ rfh

◆ rgb

◆ rgbTmp

◆ rpc

◆ showImages

◆ showMode

◆ skeletonImage

◆ skeletonPatterns

◆ skeletonPort

Enumeration Type Documentation

◆ clickType