Face Detection ROS Node using OpenCV

This is a ROS node which reads images from a given directory, detects faces, and publishes the images with the detected faces encircled, to the sensor_msgs/Image topic which can be subscribed by Rviz for visualisation.

Prerequisites

1. Install and configure ROS

2. Install Rviz

Getting Started

1. Download or clone the package into your catkin workspace

2. Initialisation

Open a new terminal and source your environment setup file by typing the following:

$ source /opt/ros/%your_distro%/setup.bash

From your catkin workspace, enter the following:

$ catkin_make
$ source ./devel/setup.bash

If you do not have OpenCV-2 versions installed, edit the find_package line in CMakeLists.txt.

3. Running the code

Open a new terminal and run roscore. Do not forget to source the environmental setup file in each of the new terminals.

$ roscore

Open another terminal and run the code with arguments as shown below.

$ rosrun face_detector imag_pub.py <OpenCV dir> <Database dir>

Use another terminal to open rviz.

$ rosrun rviz rviz

Setup your rviz to subscribe to images from the sensor_msgs topic

WORKING VIDEO

Watch the working here

DOCUMENTATION

Find the documentation link at face_detection_documentation/documentation/index.html