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face detector

asked 2011-05-27 02:34:47 -0600

Reza gravatar image

updated 2011-05-27 20:52:52 -0600

Hi, I'm trying to use face detector on care-o-bot3, for this I activate ROS (DB) using roscore, bring up the robot including a pair of prosilica camera (stereo) and then run face detector. It's supposed we see a window, in which detected faces are marked in it, but nothing happens, just below is the messages come in face_detector terminal

PARAMETERS
 * /rosdistro
 * /face_detector/classifier_filename
 * /face_detector/do_publish_faces_of_unknown_size
 * /face_detector/do_continuous
 * /rosversion
 * /face_detector/classifier_reliability
 * /face_detector/do_display
 * /face_detector/classifier_name

NODES
  /stereo/
    stereo_image_proc (stereo_image_proc/stereo_image_proc)
  /
    face_detector (face_detector/face_detector)

ROS_MASTER_URI=http://192.168.0.101:11311

core service [/rosout] found
process[stereo/stereo_image_proc-1]: started with pid [4523]
process[face_detector-2]: started with pid [4524] 
[ WARN] [1306428229.566039110]: You've passed in true for auto_start for the C++ action server you should always pass in false to avoid race conditions.
[ INFO] [1306428229.611074240]: Constructing FaceDetector.
[ INFO] [1306428229.770035945]: Subscribed to the person filter messages

In order to check the setting, I apply the face detector into a recorded rosbag file (video demo for PR2, downloaded from ROS) and it works, this means we see a window with marked faces in it.

here are the launch files that I use to activate cameras, face detector and bag file player:

camera:

<!-- The camera node -->
<node ns="stereo/left" name="color_camera" pkg="prosilica_camera" type="prosilica_node" output="screen">
<param name="ip_address" type="str" value="169.254.236.139"/>
<param name="trigger_mode" type="str" value="streaming"/>
<remap from="camera/image_raw" to="image_raw"/>
<remap from="camera/camera_info" to="camera_info" />
<rosparam command="load" file="$(find uh_bringup)/common/camera_setting.yaml" />
</node>

<!-- The camera node -->
<node ns="stereo/right" name="color_camera" pkg="prosilica_camera" type="prosilica_node" output="screen">
<param name="ip_address" type="str" value="169.254.47.10"/>
<param name="trigger_mode" type="str" value="streaming"/>
<remap from="camera/image_raw" to="image_raw"/>
<remap from="camera/camera_info" to="camera_info" />
<rosparam command="load" file="$(find uh_bringup)/common/camera_setting.yaml" />
</node>

face detector:

<node ns="stereo" pkg="stereo_image_proc" type="stereo_image_proc" respawn="false" name="stereo_image_proc" args="_approximate_sync:=True _queue_size:=15"/>

<node pkg="face_detector" type="face_detector" name="face_detector" args="stereo:=/stereo image:=image_rect _approximate_sync:=True _queue_size:=15" output="screen">
<param name="classifier_name" type="string" value="frontalface" />
<param name="classifier_filename" type="string" value="$(find opencv2)/opencv/share/opencv/haarcascades/haarcascade_frontalface_alt.xml" />
<param name="classifier_reliability" type="double" value="0.9"/>
<param name="do_continuous" type="bool" value="true" />
<param name="do_publish_faces_of_unknown_size" type="bool" value="true" />  
<param name="do_display" type="string" value="local" />
</node>

rosbag player:

<node pkg="rosbag" type="play" name="rosplay" args="-r 0.1 -l /home/reza/bag_files/face_detector_withface_test_diamondback.bag">
<remap from="wide_stereo/left/image_raw" to="stereo/left/image_raw"/>
<remap from="wide_stereo/left/camera_info" to="stereo/left/camera_info"/>
<remap from="wide_stereo/right/image_raw" to="stereo/right/image_raw"/>
<remap from="wide_stereo/right/camera_info" to="stereo/right/camera_info"/>
</node>

Do you know what can cause this problem, please?

Regards, Reza,

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Comments

This is hardly readable, please edit your post and mark the xml parts as code (use the icon with 0s and 1s above the textfield)
Felix Endres gravatar imageFelix Endres ( 2011-05-27 03:28:39 -0600 )edit
this should be readable, now. thanks,
Reza gravatar imageReza ( 2011-05-27 20:54:48 -0600 )edit

1 Answer

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answered 2011-06-07 21:44:04 -0600

Reza gravatar image

I tried the setup with a pair of usb webcam (uvc_camera), face detector works properly, then it seems the problem is with prosilica and frame rate. I can't get the required fps (about 15fps) from the prosilica cameras, and this is likely to be either camera config or care-o-bot network problem.

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Which prosilica are you using with which configuration options?
KoenBuys gravatar imageKoenBuys ( 2011-06-08 00:06:11 -0600 )edit

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Asked: 2011-05-27 02:34:47 -0600

Seen: 900 times

Last updated: Jun 07 '11