The hiwr_opencv_detector ROS package aims to detect object or faces.
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README.md

hiwr_opencv_detector

The hiwr_opencv_detector ROS package aims to detect object or faces. It uses a video stream as an input, and a parameter file for each object to detect. It gives as a result a ROI (Region Of Interest), where the object is detected in the frame.

Contributing

Contributions via pull request are welcome and may be included under the same license as below.

Copyright

hiwr_opencv_detector, except where otherwise noted, is released under the Apache License 2.0. See the LICENSE file located in the root directory.

Build

It requires hyve_msg to work properly

Execution

Make sure that your project is compiled and sourced.

To start hiwr_opencv_detector, do the following (assuming you have a working ROS core running):

Launch using roslaunch:

$ roslaunch hiwr_opencv_detector facetracking.launch 

Launch from another launchfile:

<include file="$(find hiwr_opencv_detector)/facetracking.launch" />

Node

Subscribed Topics

  • /hiwr_camera_controller/output_video
  • The video stream topic

Published Topics

  • /hiwr_opencv_detector/roi
    • Get the last ROI message (geometry_msgs/RegionOfInterest)

Parameters

  • haarfile (String)
  • File to load for object or faces detection