face detector now publishes PositionMeasurementArray messages contain…

…ing all of the faces found in one frame. It also correctly (but greedily) associates faces between frames. Finally, it only runs if someone is subscribed to one of its outputs.

face_detector/launch/face_detector.narrow.launch

@@ -2,10 +2,12 @@
 
   <arg name="camera" default="narrow_stereo" />
   <arg name="image_topic" default="image_rect" />
+  <arg name="fixed_frame" default="narrow_stereo_optical_frame" />
 
   <node pkg="face_detector" type="face_detector" name="face_detector" output="screen">
     <remap from="camera" to="$(arg camera)" />
     <remap from="image" to="$(arg image_topic)" />
+    <param name="fixed_frame" type="string" value="$(arg fixed_frame)" />
     <param name="classifier_name" type="string" value="frontalface" />
     <param name="classifier_filename" type="string" value="$(env ROS_ROOT)/../OpenCV/haarcascades/haarcascade_frontalface_alt.xml" />
     <param name="classifier_reliability" type="double" value="0.9"/>

face_detector/launch/face_detector.rgbd.launch

@@ -2,13 +2,17 @@
 
   <arg name="camera" default="camera" />
   <arg name="image_topic" default="image_rect" />
+  <arg name="fixed_frame" default="camera_rgb_optical_frame" />
 
   <!--include file="$(find openni_launch)/launch/openni.launch"/-->
-  <param name="/$(arg camera)/depth_registration" type="bool" value="true" />
+  <node name="$(anon dynparam)" pkg="dynamic_reconfigure" type="dynparam" args="set_from_parameters camera_driver">
+    <param name="depth_registration" type="bool" value="true" />
+  </node>
 
  <node pkg="face_detector" type="face_detector" name="face_detector" output="screen">
     <remap from="camera" to="$(arg camera)" />
     <remap from="image" to="$(arg image_topic)" />
+    <param name="fixed_frame" type="string" value="$(arg fixed_frame)" />
     <param name="classifier_name" type="string" value="frontalface" />
     <param name="classifier_filename" type="string" value="$(env ROS_ROOT)/../OpenCV/haarcascades/haarcascade_frontalface_alt.xml" />
     <param name="classifier_reliability" type="double" value="0.9"/>

face_detector/launch/face_detector.wide.launch

@@ -2,10 +2,12 @@
 
   <arg name="camera" default="wide_stereo" />
   <arg name="image_topic" default="image_rect" />
+  <arg name="fixed_frame" default="wide_stereo_optical_frame" />
 
   <node pkg="face_detector" type="face_detector" name="face_detector" output="screen">
     <remap from="camera" to="$(arg camera)" />
     <remap from="image" to="$(arg image_topic)" />	
+    <param name="fixed_frame" type="string" value="$(arg fixed_frame)" />
     <param name="classifier_name" type="string" value="frontalface" />
     <param name="classifier_filename" type="string" value="$(env ROS_ROOT)/../OpenCV/haarcascades/haarcascade_frontalface_alt.xml" />
     <param name="classifier_reliability" type="double" value="0.9"/>

face_detector/launch/face_detector_action.rgbd.launch

@@ -2,13 +2,17 @@
 
   <arg name="camera" default="camera" />
   <arg name="image_topic" default="image_rect" />
+  <arg name="fixed_frame" default="camera_rgb_optical_frame" />
 
   <!--include file="$(find openni_launch)/launch/openni.launch"/-->
-  <param name="/$(arg camera)/depth_registration" type="bool" value="true" />
+  <node name="$(anon dynparam)" pkg="dynamic_reconfigure" type="dynparam" args="set_from_parameters camera_driver">
+    <param name="depth_registration" type="bool" value="true" />
+  </node>
 
   <node pkg="face_detector" type="face_detector" name="face_detector_action" output="screen">
     <remap from="camera" to="$(arg camera)" />
     <remap from="image" to="$(arg image_topic)" />
+    <param name="fixed_frame" type="string" value="$(arg fixed_frame)" />
     <param name="classifier_name" type="string" value="frontalface" />
     <param name="classifier_filename" type="string" value="$(env ROS_ROOT)/../OpenCV/haarcascades/haarcascade_frontalface_alt.xml" />
     <param name="classifier_reliability" type="double" value="0.9"/>

face_detector/launch/face_detector_action.wide.launch

@@ -2,10 +2,12 @@
 
   <arg name="camera" default="wide_stereo" />
   <arg name="image_topic" default="image_rect" />
+  <arg name="fixed_frame" default="wide_stereo_optical_frame" />
 
   <node pkg="face_detector" type="face_detector" name="face_detector" output="screen">
     <remap from="camera" to="$(arg camera)" />
-    <remap from="image" to="$(arg image_topic)" />	
+    <remap from="image" to="$(arg image_topic)" />
+    <param name="fixed_frame" type="string" value="$(arg fixed_frame)" />	
     <param name="classifier_name" type="string" value="frontalface" />
     <param name="classifier_filename" type="string" value="$(env ROS_ROOT)/../OpenCV/haarcascades/haarcascade_frontalface_alt.xml" />
     <param name="classifier_reliability" type="double" value="0.9"/>