cob_people_detection Documentation

cob_people_detection

Detects persons through head and face detection and identifies the detected faces. The results are tracked over time to increase confidence. The system is optimized to be used with a Microsoft Kinect or Asus Xtion Pro Live sensor but could also handle different sensors as long as depth and color images are provided.

face_detector is a package containing algorithms and nodes related to the detection of faces.

usage

See launch/face_dector.wide.launch to launch in continuous detection mode, or launch/face_detector_action.wide.launch to launch as an action.

Parameters:
classifier_nameA readable string name for the classifier. Will be published with the result.
classifier_filenameFull path to the trained haar cascade. Currently useful cascades are haar_frontalface_alt.xml and haar_profileface.xml in opencv2
classifier_reliabilityDouble 0-1. Some notion of the classifier's reliability for use in a larger system.
do_continuoustrue = Run continuously. false = Wait for action call
do_publish_faces_of_unknown_sizetrue = If depth info is not available, publish the resulting face with a position of (0,0,0). false = Don't publish faces if stereo information isn't available.
do_displaynone = Don't display anything. local = Display in an OpenCV window.
face_size_min_mDouble. The minimum width of a face, in meters. Defaults to 0.1m.
face_size_max_mDouble. The maximum width of a face, in meters. Defaults to 0.5m.
max_face_z_mDouble. The maximum distance of a face from the camera, in meters. (In the camera frame, depth is along the z-axis.) Defaults to 8.0m.
face_separation_dist_mDouble. Only used for tracking. The maximum distance between two face detections before they are considered different faces. Defaults to 1.0m.

codeapi



cob_people_detection
Author(s): Richard Bormann , Thomas Zwölfer
autogenerated on Thu Aug 3 2017 02:33:34