Face_Find code documentation

Authors: Nikolaus Mayer, Christian Schilling
Bachelor Project "Recognizing and Drawing Faces with a Humanoid Robot"
University of Freiburg

Introduction

This is the documentation for the FACE FINDER stage of the Bachelor Project "Recognizing and Drawing Faces with a Humanoid Robot"

Features:

• FaceFind recognizes and marks faces in the PR-2 robot's wide_stereo camera video images.
• The user can choose a marked face in the UserInterface GUI's video stream.
• The robot then adjusts itself so that the high-definition prosilica camera can take an image of the face from which a portrait is cut out.
• At the same time, the robot's tilting laser scanner compiles a pointcloud of the face which is used to separate the person from the portrait's background.
• The resulting images can then be sent to the next stage, CONTOUR DETECTOR.
• Additionally, the GUI provides the user with information about and interaction with the other three project stages.

Installation

Step 1:

Get a fresh copy of the code

Step 2:

Either install the debian package "ros-diamondback-people" or get code copies of "face_detector" and "people_msgs" from ROS.org (this dependency is not correctly resolved by the ROS make/install tools)