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 exactly does!
This package consists of a ROS node called face_tracker_node
that can track faces using OpenCV APIs and publish the centroid of the face to a topic. Here is the block diagram of the working of face_tracker_node
:
Figure 15: 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:
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 in 2001. In this method, a cascade file is trained using a positive and negative sample image, and after training...