Pi Vision ported to ROS Noetic, together with various enhancements:
- Its been catkinized.
- Can track multiple faces.
- Attempts to perform localization in 3D, so that face positons are now published in 3D coordinates.
This is based on the original Pi Vision package, taken from http://wiki.ros.org/pi_vision, which had been abandonded after groovy. This package includes both http://wiki.ros.org/pi_face_tracker and http://wiki.ros.org/pi_face_tracker_gui
The plain, unenhanced port of pi_vision to Indigo is tagged with the
tag orig-indigo-port. The final version of the Indigo port is tagged
with ros-indigo. The master branch is current for Noetic.
apt-get install ros-noetic-cv-bridge ros-noetic-image-transport
The node must be built from git:
git clone https://github.com/opencog/pi_vision
cd catkin; catkin build
source devel/setup.bash
To change camera settings, modify the usb_cam.launch file.
roslaunch ros2opencv usb_cam.launch
roslaunch pi_face_tracker face_tracker_usb_cam.launch
Publishes a list of human faces being tracked. Each is given an ID number,
and a 3D coordinate. The coordinate frame used is the usual ROS
'engineering' frame: x is straight ahead, y is the the left, and z
is up. Units are in meters.
Publishes face tracking events. Currently, the only events published are
new_face and lost_face. The first indicates a newly-acquired face to
track, the second, that a face is no longer visible.
- Implement face recognition on a "new_face"
- face_tracker.py has own copy of ROS2OpenCV class from ros2opencv package: merge the own copy back and fix the reference so it works again. (Python3 changed the way other python modules are bound)