We have already created or copied the face_tracker_pkg package to the workspace and have discussed some of its important dependencies. Now, we are going to discuss what this package does exactly!
This package consists of an ROS node called face_tracker_node, which can track faces using OpenCV APIs and publish the centroid of the face to a topic. Here is a block diagram of the workings of face_tracker_node:
Block diagram of face_tracker_node
Let's discuss the things connected to face_tracker_node. One of the sections that may be unfamiliar to you is the face Haar classifier:
- The face haar classifier: The Haar feature-based cascade classifier is a machine learning approach for detecting objects. This method was proposed by Paul Viola and Michael Jones in their paper, Rapid object detection using a boosted cascade of simple features...