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rail_face_detection: rail_face_detection_msgs | rail_face_detector

Package Summary

This package provides face detection.

  • Maintainer status: developed
  • Maintainer: Siddhartha Banerjee <banerjs.sid AT gmail DOT com>, Andrew Silva <andrew.silva AT gatech DOT edu>
  • Author: Siddhartha Banerjee <banerjs.sid AT gmail DOT com>, Andrew Silva <andrew.silva AT gatech DOT edu>
  • License: MIT
  • Source: git https://github.com/GT-RAIL/rail_face_detection.git (branch: indigo-devel)

Two Minute Intro

This detector uses Caffe to perform face detection. It publishes faces found in images from a subscribed image topic. The face detector itself can be found here: https://github.com/kpzhang93/MTCNN_face_detection_alignment.

The message type coming back from the face detector is a Detections.msg which contains an array of Face.msg objects. Each Face.msg has:

Nodes

This package contains a single ROS node - face_detector_node - which serves as an interface between a ROS system and the trained face recognition network.

face_detector_node

Topics

detector_node/faces

Type: face_detector/detections

Topic with face detections performed in the background by running on images as they come in the subscriber.

detector_node/debug/face_images

Type: face_detector/debug/face_images

Topic with face detections visualized on incoming images as they come in from the subscriber. Only published if debug=true.

Parameters

image_sub_topic_name

Type: string

Default: "/kinect/qhd/image_color_rect"

Image topic name to use for detections.

debug

Type: bool

Default: false

Enable or disable debug mode, which publishes incoming images with bounding boxes over faces

use_gpu

Type: bool

Default: true

Enable or disable gpu mode. Enabled by default. Significantly speeds up detection.

use_compressed_image

Type: bool

Default: false

Change to compressed image stream or not. Simply appends a "/compressed" to the image topic name. This lightens the load your local network if the images are being transmitted to the detector.


2019-06-15 13:02