bender_face_person

#bender_face_person

Package Summary

[TOC]

1. Nodes

Todos los tópicos/servicios/parámetros de éste package llevan el namespace: /bender/perception/<node_name>/.

1.1 Face Detection (face_detector)

1.1.1 Sensor

• Camera RGB
  • Webcam
    • Example : roslaunch bender_sensors camera_right_eye.launch
  • 3D sensor
    • Example : roslaunch bender_sensors rgbd_head.launch

1.1.2 Launch

roslaunch bender_face_person face_detector.launch

1.1.3 Subscribed Topics

• Parameter camera_topic (sensor_msgs::Image)

1.1.4 Services

• ~active (bender_srvs/Onoff)
  • Input
    • bool select: subscribe/unsubscribe to the camera_topic
  • Output
• ~set_display (bender_srvs/Onoff)
  • Input
    • bool select : open/close display window
  • Output
• ~face_detection (bender_srvs/ImageDetector)
  • Input
    • bool do_EyesRot : if the eyes are detected, the images of the detected faces are rotated
  • Output
    • sensor_msgs/Image image : Full image received
    • sensor_msgs/Image[] faces : image of all detected faces
    • sensor_msgs/RegionOfInterest[] BBoxes : Bounding boxes of all detected faces
    • geometry_msgs/PoseStamped[] pose : Posestamped of all detected faces

1.1.5 Parameters

• ~camera_topic (string, default:"/bender/sensors/camera_right_eye/image_raw")
• ~display (bool, default:"true")
• ~scalefactor (float, default:"1.05")
• ~minNeighbors (int, default:"6")
• ~minSize (int, default:"30")
• ~fps (int, default:"25")

1.2 Face Recognition (face_recognizer)

1.2.1 Services

• ~add (bender_srvs/FaceRecognition)

  • foo.
  • bar.

• ~read_im_db (bender_srvs/FaceRecognition)

  • foo.
  • bar.

• ~recognize (bender_srvs/FaceRecognition)

  • foo.
  • bar.

• ~read_db (bender_srvs/FaceRecognition)

  • foo.
  • bar.

• ~save_db (bender_srvs/FaceRecognition)

  • foo.
  • bar.

• ~recognize_img (bender_srvs/FaceRecognition)

  • foo.
  • bar.

1.2.2 Service Clients

• /bender/vision/face_detector/detect_face (bender_srvs/FaceInfo)
  • foo.
  • bar.

1.2.3 Parameters

• ~cam_name (string, default:"default_camera")
  • foo.
  • bar.

1.3 Emotion Recognition (emotion_recognition)

1.3.1 Sensor

• Camera RGB
  • Webcam
    • Example : roslaunch bender_sensors camera_right_eye.launch
  • 3D sensor
    • Example : roslaunch bender_sensors rgbd_head.launch

1.3.2 Launch

roslaunch bender_face_person emotion_recognition.launch

1.1.3 Subscribed Topics

• Parameter camera_topic (sensor_msgs::Image)

1.3.4 Services

• ~active (bender_srvs/Onoff)
  • Input
    • bool select: subscribe/unsubscribe to the camera_topic
  • Output
• ~emotion_recognition (bender_srvs/DetectState)
  • Input
  • Output
    • string state : detected emotion
    • float64 score : percentage of emotion

1.3.3 Parameters

• ~camera_topic (string, default:"/bender/sensors/camera_right_eye/image_raw")
• ~display (bool, default:"true")
• ~fps (int, default:"25")

2. Usage / Utilities