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face_detector not detecting faces

I have successfully built face_detector package with catkin_make and fixed the launch file's depth and rgb topic based on Face Detector Example Usage.

Besides this, I made a face_detection_behavior node which subscribes to topic /face_detector/people_tracker_measurements_array and /face_detector/faces_cloud.

rostopic info /face_detector/people_tracker_measurements_array 
Type: people_msgs/PositionMeasurementArray

Publishers: 
 * /face_detector (http://192.168.31.164:43851/)

Subscribers: 
 * /face_detection_behavior (http://192.168.31.164:45399/)

rostopic info /face_detector/faces_cloud
Type: sensor_msgs/PointCloud

Publishers: 
 * /face_detector (http://192.168.31.164:43851/)

Subscribers: 
 * /face_detection_behavior (http://192.168.31.164:45399/)

However, no faces can be detected.

rostopic echo /face_detector/faces_cloud
rostopic echo /face_detector/people_tracker_measurements_ar

The above returns no messages.

This is my face_detector launch file:

<launch>                                                                                  
  1 
  2   <arg name="camera" default="camera" />
  3   <arg name="depth_ns" default="depth_registered" />
  4   <arg name="rgb_ns" default="rgb" />
  5   <arg name="image_topic" default="image_rect_color" />
  6   <arg name="depth_topic" default="image_rect_raw" />
  7   <arg name="fixed_frame" default="/camera_rgb_optical_frame" />
  8 
  9   <!--include file="$(find openni_launch)/launch/openni.launch"/-->
 10   <node name="$(anon dynparam)" pkg="dynamic_reconfigure" type="dynparam" args="set_from_p
    arameters $(arg camera)/driver">
 11     <param name="depth_registration" type="bool" value="true" />
 12   </node>
 13 
 14  <node pkg="face_detector" type="face_detector" name="face_detector" output="screen">
 15     <remap from="camera" to="$(arg camera)" />
 16     <remap from="image_topic" to="$(arg image_topic)" />
 17     <remap from="depth_topic" to="/hw_registered/$(arg depth_topic)" />
 18     <remap from="depth_ns" to="$(arg depth_ns)" />
 19     <remap from="rgb_ns" to="$(arg rgb_ns)" />
 20     <param name="fixed_frame" type="string" value="$(arg fixed_frame)" />
 21     <param name="classifier_name" type="string" value="frontalface" />
 22     <rosparam command="load" file="$(find face_detector)/param/classifier.yaml"/>
 23     <param name="classifier_reliability" type="double" value="0.9"/>
 24     <param name="do_continuous" type="bool" value="true" />
 25     <param name="do_publish_faces_of_unknown_size" type="bool" value="true" />
 26     <param name="do_display" type="bool" value="true" />
 27     <param name="use_rgbd" type="bool" value="true" />
 28     <param name="approximate_sync" type="bool" value="true" />
 29 
 30   </node>
 31 
 32 </launch>

Here is what I have checked: face detector node:

rosnode info /face_detector
--------------------------------------------------------------------------------
Node [/face_detector]
Publications: 
 * /face_detector/faces_cloud [sensor_msgs/PointCloud]
 * /face_detector/feedback [face_detector/FaceDetectorActionFeedback]
 * /face_detector/people_tracker_measurements_array [people_msgs/PositionMeasurementArray]
 * /face_detector/result [face_detector/FaceDetectorActionResult]
 * /face_detector/status [actionlib_msgs/GoalStatusArray]
 * /rosout [rosgraph_msgs/Log]

Subscriptions: 
 * /camera/depth_registered/camera_info [sensor_msgs/CameraInfo]
 * /camera/depth_registered/hw_registered/image_rect_raw [sensor_msgs/Image]
 * /camera/rgb/camera_info [sensor_msgs/CameraInfo]
 * /camera/rgb/image_rect_color [sensor_msgs/Image]
 * /face_detector/cancel [unknown type]
 * /face_detector/goal [unknown type]
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [unknown type]

Services: 
 * /face_detector/get_loggers
 * /face_detector/set_logger_level

camera depth image_rect_raw node:

rostopic info /camera/depth_registered/hw_registered/image_rect_raw
Type: sensor_msgs/Image

Publishers: 
 * /camera/camera_nodelet_manager (http://192.168.31.135:38017/)

Subscribers: 
 * /face_detector (http://192.168.31.164:43851/)

camera rgb image_rect_color node:

rostopic info /camera/rgb/image_rect_color
Type: sensor_msgs/Image

Publishers: 
 * /camera/camera_nodelet_manager (http://192.168.31.135:38017/)

Subscribers: 
 * /face_detector (http://192.168.31.164:43851/)

face_detector not detecting faces

I have successfully built face_detector package with catkin_make and fixed the launch file's depth and rgb topic based on Face Detector Example Usage.

Besides this, I made a face_detection_behavior node which subscribes to topic /face_detector/people_tracker_measurements_array and /face_detector/faces_cloud.

rostopic info /face_detector/people_tracker_measurements_array 
Type: people_msgs/PositionMeasurementArray

Publishers: 
 * /face_detector (http://192.168.31.164:43851/)

Subscribers: 
 * /face_detection_behavior (http://192.168.31.164:45399/)

rostopic info /face_detector/faces_cloud
Type: sensor_msgs/PointCloud

Publishers: 
 * /face_detector (http://192.168.31.164:43851/)

Subscribers: 
 * /face_detection_behavior (http://192.168.31.164:45399/)

However, no faces can be detected.

rostopic echo /face_detector/faces_cloud
rostopic echo /face_detector/people_tracker_measurements_ar

The above returns no messages.

This is my face_detector launch file:

<launch>                                                                                  
  1 
  2   <arg name="camera" default="camera" />
  3   <arg name="depth_ns" default="depth_registered" />
  4   <arg name="rgb_ns" default="rgb" />
  5   <arg name="image_topic" default="image_rect_color" />
  6   <arg name="depth_topic" default="image_rect_raw" />
  7   <arg name="fixed_frame" default="/camera_rgb_optical_frame" />
  8 
  9   <!--include file="$(find openni_launch)/launch/openni.launch"/-->
 10   <node name="$(anon dynparam)" pkg="dynamic_reconfigure" type="dynparam" args="set_from_p
    arameters $(arg camera)/driver">
 11     <param name="depth_registration" type="bool" value="true" />
 12   </node>
 13 
 14  <node pkg="face_detector" type="face_detector" name="face_detector" output="screen">
 15     <remap from="camera" to="$(arg camera)" />
 16     <remap from="image_topic" to="$(arg image_topic)" />
 17     <remap from="depth_topic" to="/hw_registered/$(arg depth_topic)" />
 18     <remap from="depth_ns" to="$(arg depth_ns)" />
 19     <remap from="rgb_ns" to="$(arg rgb_ns)" />
 20     <param name="fixed_frame" type="string" value="$(arg fixed_frame)" />
 21     <param name="classifier_name" type="string" value="frontalface" />
 22     <rosparam command="load" file="$(find face_detector)/param/classifier.yaml"/>
 23     <param name="classifier_reliability" type="double" value="0.9"/>
 24     <param name="do_continuous" type="bool" value="true" />
 25     <param name="do_publish_faces_of_unknown_size" type="bool" value="true" />
 26     <param name="do_display" type="bool" value="true" />
 27     <param name="use_rgbd" type="bool" value="true" />
 28     <param name="approximate_sync" type="bool" value="true" />
 29 
 30   </node>
 31 
 32 </launch>

Here is what I have checked: face detector node:

rosnode info /face_detector
--------------------------------------------------------------------------------
Node [/face_detector]
Publications: 
 * /face_detector/faces_cloud [sensor_msgs/PointCloud]
 * /face_detector/feedback [face_detector/FaceDetectorActionFeedback]
 * /face_detector/people_tracker_measurements_array [people_msgs/PositionMeasurementArray]
 * /face_detector/result [face_detector/FaceDetectorActionResult]
 * /face_detector/status [actionlib_msgs/GoalStatusArray]
 * /rosout [rosgraph_msgs/Log]

Subscriptions: 
 * /camera/depth_registered/camera_info [sensor_msgs/CameraInfo]
 * /camera/depth_registered/hw_registered/image_rect_raw [sensor_msgs/Image]
 * /camera/rgb/camera_info [sensor_msgs/CameraInfo]
 * /camera/rgb/image_rect_color [sensor_msgs/Image]
 * /face_detector/cancel [unknown type]
 * /face_detector/goal [unknown type]
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [unknown type]

Services: 
 * /face_detector/get_loggers
 * /face_detector/set_logger_level

camera depth image_rect_raw node:

rostopic info /camera/depth_registered/hw_registered/image_rect_raw
Type: sensor_msgs/Image

Publishers: 
 * /camera/camera_nodelet_manager (http://192.168.31.135:38017/)

Subscribers: 
 * /face_detector (http://192.168.31.164:43851/)

camera rgb image_rect_color node:

rostopic info /camera/rgb/image_rect_color
Type: sensor_msgs/Image

Publishers: 
 * /camera/camera_nodelet_manager (http://192.168.31.135:38017/)

Subscribers: 
 * /face_detector (http://192.168.31.164:43851/)

face_detector not detecting faces

I have successfully built face_detector package with catkin_make and fixed the launch file's depth and rgb topic based on Face Detector Example Usage.

Besides this, I made a face_detection_behavior node which subscribes to topic /face_detector/people_tracker_measurements_array and /face_detector/faces_cloud.

rostopic info /face_detector/people_tracker_measurements_array 
Type: people_msgs/PositionMeasurementArray

Publishers: 
 * /face_detector (http://192.168.31.164:43851/)

Subscribers: 
 * /face_detection_behavior (http://192.168.31.164:45399/)

rostopic info /face_detector/faces_cloud
Type: sensor_msgs/PointCloud

Publishers: 
 * /face_detector (http://192.168.31.164:43851/)

Subscribers: 
 * /face_detection_behavior (http://192.168.31.164:45399/)

However, no faces can be detected.

rostopic echo /face_detector/faces_cloud
rostopic echo /face_detector/people_tracker_measurements_ar

The above returns no messages.

This is my face_detector launch file:

<launch>                                                                                  
  1 
  2   <arg name="camera" default="camera" />
  3   <arg name="depth_ns" default="depth_registered" />
  4   <arg name="rgb_ns" default="rgb" />
  5   <arg name="image_topic" default="image_rect_color" />
  6   <arg name="depth_topic" default="image_rect_raw" />
  7   <arg name="fixed_frame" default="/camera_rgb_optical_frame" />
  8 
  9   <!--include file="$(find openni_launch)/launch/openni.launch"/-->
 10   <node name="$(anon dynparam)" pkg="dynamic_reconfigure" type="dynparam" args="set_from_p
    arameters $(arg camera)/driver">
 11     <param name="depth_registration" type="bool" value="true" />
 12   </node>
 13 
 14  <node pkg="face_detector" type="face_detector" name="face_detector" output="screen">
 15     <remap from="camera" to="$(arg camera)" />
 16     <remap from="image_topic" to="$(arg image_topic)" />
 17     <remap from="depth_topic" to="/hw_registered/$(arg depth_topic)" />
 18     <remap from="depth_ns" to="$(arg depth_ns)" />
 19     <remap from="rgb_ns" to="$(arg rgb_ns)" />
 20     <param name="fixed_frame" type="string" value="$(arg fixed_frame)" />
 21     <param name="classifier_name" type="string" value="frontalface" />
 22     <rosparam command="load" file="$(find face_detector)/param/classifier.yaml"/>
 23     <param name="classifier_reliability" type="double" value="0.9"/>
 24     <param name="do_continuous" type="bool" value="true" />
 25     <param name="do_publish_faces_of_unknown_size" type="bool" value="true" />
 26     <param name="do_display" type="bool" value="true" />
 27     <param name="use_rgbd" type="bool" value="true" />
 28     <param name="approximate_sync" type="bool" value="true" />
 29 
 30   </node>
 31 
 32 </launch>

Here is what I have checked: face detector node:

rosnode info /face_detector
--------------------------------------------------------------------------------
Node [/face_detector]
Publications: 
 * /face_detector/faces_cloud [sensor_msgs/PointCloud]
 * /face_detector/feedback [face_detector/FaceDetectorActionFeedback]
 * /face_detector/people_tracker_measurements_array [people_msgs/PositionMeasurementArray]
 * /face_detector/result [face_detector/FaceDetectorActionResult]
 * /face_detector/status [actionlib_msgs/GoalStatusArray]
 * /rosout [rosgraph_msgs/Log]

Subscriptions: 
 * /camera/depth_registered/camera_info [sensor_msgs/CameraInfo]
 * /camera/depth_registered/hw_registered/image_rect_raw [sensor_msgs/Image]
 * /camera/rgb/camera_info [sensor_msgs/CameraInfo]
 * /camera/rgb/image_rect_color [sensor_msgs/Image]
 * /face_detector/cancel [unknown type]
 * /face_detector/goal [unknown type]
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [unknown type]

Services: 
 * /face_detector/get_loggers
 * /face_detector/set_logger_level

camera depth image_rect_raw node:

rostopic info /camera/depth_registered/hw_registered/image_rect_raw
Type: sensor_msgs/Image

Publishers: 
 * /camera/camera_nodelet_manager (http://192.168.31.135:38017/)

Subscribers: 
 * /face_detector (http://192.168.31.164:43851/)

camera rgb image_rect_color node:

rostopic info /camera/rgb/image_rect_color
Type: sensor_msgs/Image

Publishers: 
 * /camera/camera_nodelet_manager (http://192.168.31.135:38017/)

Subscribers: 
 * /face_detector (http://192.168.31.164:43851/)

The cascade file I'm using is from Haar cascades, Frontal Face. What could be the problem here?

Regards,

face_detector not detecting faces

I have successfully built face_detector package with catkin_make and fixed the launch file's depth and rgb topic based on Face Detector Example Usage.

Besides this, I made a face_detection_behavior node which subscribes to topic /face_detector/people_tracker_measurements_array and /face_detector/faces_cloud.

rostopic info /face_detector/people_tracker_measurements_array 
Type: people_msgs/PositionMeasurementArray

Publishers: 
 * /face_detector (http://192.168.31.164:43851/)

Subscribers: 
 * /face_detection_behavior (http://192.168.31.164:45399/)

rostopic info /face_detector/faces_cloud
Type: sensor_msgs/PointCloud

Publishers: 
 * /face_detector (http://192.168.31.164:43851/)

Subscribers: 
 * /face_detection_behavior (http://192.168.31.164:45399/)

However, no faces can be detected.

rostopic echo /face_detector/faces_cloud
rostopic echo /face_detector/people_tracker_measurements_ar

The above returns no messages.

This is my face_detector launch file:

<launch>                                                                                  
  1 
  2   <arg name="camera" default="camera" />
  3   <arg name="depth_ns" default="depth_registered" />
  4   <arg name="rgb_ns" default="rgb" />
  5   <arg name="image_topic" default="image_rect_color" />
  6   <arg name="depth_topic" default="image_rect_raw" />
  7   <arg name="fixed_frame" default="/camera_rgb_optical_frame" />
  8 
  9   <!--include file="$(find openni_launch)/launch/openni.launch"/-->
 10   <node name="$(anon dynparam)" pkg="dynamic_reconfigure" type="dynparam" args="set_from_p
    arameters $(arg camera)/driver">
 11     <param name="depth_registration" type="bool" value="true" />
 12   </node>
 13 
 14  <node pkg="face_detector" type="face_detector" name="face_detector" output="screen">
 15     <remap from="camera" to="$(arg camera)" />
 16     <remap from="image_topic" to="$(arg image_topic)" />
 17     <remap from="depth_topic" to="/hw_registered/$(arg depth_topic)" />
 18     <remap from="depth_ns" to="$(arg depth_ns)" />
 19     <remap from="rgb_ns" to="$(arg rgb_ns)" />
 20     <param name="fixed_frame" type="string" value="$(arg fixed_frame)" />
 21     <param name="classifier_name" type="string" value="frontalface" />
 22     <rosparam command="load" file="$(find face_detector)/param/classifier.yaml"/>
 23     <param name="classifier_reliability" type="double" value="0.9"/>
 24     <param name="do_continuous" type="bool" value="true" />
 25     <param name="do_publish_faces_of_unknown_size" type="bool" value="true" />
 26     <param name="do_display" type="bool" value="true" />
 27     <param name="use_rgbd" type="bool" value="true" />
 28     <param name="approximate_sync" type="bool" value="true" />
 29 
 30   </node>
 31 
 32 </launch>

Here is what I have checked: face detector node:

rosnode info /face_detector
--------------------------------------------------------------------------------
Node [/face_detector]
Publications: 
 * /face_detector/faces_cloud [sensor_msgs/PointCloud]
 * /face_detector/feedback [face_detector/FaceDetectorActionFeedback]
 * /face_detector/people_tracker_measurements_array [people_msgs/PositionMeasurementArray]
 * /face_detector/result [face_detector/FaceDetectorActionResult]
 * /face_detector/status [actionlib_msgs/GoalStatusArray]
 * /rosout [rosgraph_msgs/Log]

Subscriptions: 
 * /camera/depth_registered/camera_info [sensor_msgs/CameraInfo]
 * /camera/depth_registered/hw_registered/image_rect_raw [sensor_msgs/Image]
 * /camera/rgb/camera_info [sensor_msgs/CameraInfo]
 * /camera/rgb/image_rect_color [sensor_msgs/Image]
 * /face_detector/cancel [unknown type]
 * /face_detector/goal [unknown type]
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [unknown type]

Services: 
 * /face_detector/get_loggers
 * /face_detector/set_logger_level

camera depth image_rect_raw node:

rostopic info /camera/depth_registered/hw_registered/image_rect_raw
Type: sensor_msgs/Image

Publishers: 
 * /camera/camera_nodelet_manager (http://192.168.31.135:38017/)

Subscribers: 
 * /face_detector (http://192.168.31.164:43851/)

camera rgb image_rect_color node:

rostopic info /camera/rgb/image_rect_color
Type: sensor_msgs/Image

Publishers: 
 * /camera/camera_nodelet_manager (http://192.168.31.135:38017/)

Subscribers: 
 * /face_detector (http://192.168.31.164:43851/)

The cascade file I'm using is from Haar cascades, Frontal Face. What could be the problem here?

Edit: Using Kinect and openni_launch package.

Regards,

face_detector not detecting faces

I have successfully built face_detector package with catkin_make and fixed the launch file's depth and rgb topic based on Face Detector Example Usage.

Besides this, I made a face_detection_behavior node which subscribes to topic /face_detector/people_tracker_measurements_array and /face_detector/faces_cloud.

rostopic info /face_detector/people_tracker_measurements_array 
Type: people_msgs/PositionMeasurementArray

Publishers: 
 * /face_detector (http://192.168.31.164:43851/)

Subscribers: 
 * /face_detection_behavior (http://192.168.31.164:45399/)

rostopic info /face_detector/faces_cloud
Type: sensor_msgs/PointCloud

Publishers: 
 * /face_detector (http://192.168.31.164:43851/)

Subscribers: 
 * /face_detection_behavior (http://192.168.31.164:45399/)

However, no faces can be detected.

rostopic echo /face_detector/faces_cloud
rostopic echo /face_detector/people_tracker_measurements_ar

The above returns no messages.

This is my face_detector launch file:

<launch>                                                                                  
  1 
  2   <arg name="camera" default="camera" />
  3   <arg name="depth_ns" default="depth_registered" />
  4   <arg name="rgb_ns" default="rgb" />
  5   <arg name="image_topic" default="image_rect_color" />
  6   <arg name="depth_topic" default="image_rect_raw" />
  7   <arg name="fixed_frame" default="/camera_rgb_optical_frame" />
  8 
  9   <!--include file="$(find openni_launch)/launch/openni.launch"/-->
 10   <node name="$(anon dynparam)" pkg="dynamic_reconfigure" type="dynparam" args="set_from_p
    arameters $(arg camera)/driver">
 11     <param name="depth_registration" type="bool" value="true" />
 12   </node>
 13 
 14  <node pkg="face_detector" type="face_detector" name="face_detector" output="screen">
 15     <remap from="camera" to="$(arg camera)" />
 16     <remap from="image_topic" to="$(arg image_topic)" />
 17     <remap from="depth_topic" to="/hw_registered/$(arg depth_topic)" />
 18     <remap from="depth_ns" to="$(arg depth_ns)" />
 19     <remap from="rgb_ns" to="$(arg rgb_ns)" />
 20     <param name="fixed_frame" type="string" value="$(arg fixed_frame)" />
 21     <param name="classifier_name" type="string" value="frontalface" />
 22     <rosparam command="load" file="$(find face_detector)/param/classifier.yaml"/>
 23     <param name="classifier_reliability" type="double" value="0.9"/>
 24     <param name="do_continuous" type="bool" value="true" />
 25     <param name="do_publish_faces_of_unknown_size" type="bool" value="true" />
 26     <param name="do_display" type="bool" value="true" />
 27     <param name="use_rgbd" type="bool" value="true" />
 28     <param name="approximate_sync" type="bool" value="true" />
 29 
 30   </node>
 31 
 32 </launch>

Here is what I have checked: face detector node:

rosnode info /face_detector
--------------------------------------------------------------------------------
Node [/face_detector]
Publications: 
 * /face_detector/faces_cloud [sensor_msgs/PointCloud]
 * /face_detector/feedback [face_detector/FaceDetectorActionFeedback]
 * /face_detector/people_tracker_measurements_array [people_msgs/PositionMeasurementArray]
 * /face_detector/result [face_detector/FaceDetectorActionResult]
 * /face_detector/status [actionlib_msgs/GoalStatusArray]
 * /rosout [rosgraph_msgs/Log]

Subscriptions: 
 * /camera/depth_registered/camera_info [sensor_msgs/CameraInfo]
 * /camera/depth_registered/hw_registered/image_rect_raw [sensor_msgs/Image]
 * /camera/rgb/camera_info [sensor_msgs/CameraInfo]
 * /camera/rgb/image_rect_color [sensor_msgs/Image]
 * /face_detector/cancel [unknown type]
 * /face_detector/goal [unknown type]
 * /tf [tf2_msgs/TFMessage]
 * /tf_static [unknown type]

Services: 
 * /face_detector/get_loggers
 * /face_detector/set_logger_level

camera depth image_rect_raw node:

rostopic info /camera/depth_registered/hw_registered/image_rect_raw
Type: sensor_msgs/Image

Publishers: 
 * /camera/camera_nodelet_manager (http://192.168.31.135:38017/)

Subscribers: 
 * /face_detector (http://192.168.31.164:43851/)

camera rgb image_rect_color node:

rostopic info /camera/rgb/image_rect_color
Type: sensor_msgs/Image

Publishers: 
 * /camera/camera_nodelet_manager (http://192.168.31.135:38017/)

Subscribers: 
 * /face_detector (http://192.168.31.164:43851/)

The cascade file I'm using is from Haar cascades, Frontal Face. What could be the problem here?

Edit: Using Kinect and openni_launch package.

Edit2: I could not found the cause of the problem. But I have manually applied haar's cascade using the rgb and depth topic published from openni_launch and face detection seems to be working.

Regards,