show_faces.cpp

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#include <hri/hri.h>
#include <ros/ros.h>
 
#include <opencv2/highgui.hpp>
 
using namespace ros;
using namespace hri;
using namespace std;
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "hri_example_show_faces");
 
  ros::NodeHandle nh;
 
  ros::Rate loop_rate(10);
 
  HRIListener hri_listener;
 
  // hri_listener.onFace(&onFace);
 
  while (ros::ok())
  {
    auto faces = hri_listener.getFaces();
    for (auto& f : faces)
    {
      auto face_id = f.first;
      auto face = f.second.lock();
      if (face)
      {
        if (!face->cropped().empty())
        {
          cv::imshow("Cropped face " + face_id, face->cropped());
        }
        if (!face->aligned().empty())
        {
          cv::imshow("Aligned face " + face_id, face->aligned());
        }
 
        cv::waitKey(10);
      }
    }
 
    loop_rate.sleep();
    ros::spinOnce();
  }
 
  return 0;
}