Added a Face_Tracking node. This node now includes Optical flow to tr…

…ack faces after they have been detected. Both Face_Tracking and Face_Detection now publish the coordinates of the faces. The example node Face_Listener shows how to read the data the other nodes.

CMakeLists.txt

@@ -76,7 +76,8 @@ set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -Wall -o0")
 #   sensor_msgs#   std_msgs
 # )
 generate_dynamic_reconfigure_options(
-  cfg/face_detection.cfg
+  cfg/face_det.cfg
+  cfg/face_track.cfg
 )
 
 ###################################
@@ -116,13 +117,15 @@ include_directories(
 ## Declare a cpp executable
 # add_executable(face_detection_node src/face_detection_node.cpp)
 add_executable(face_detection src/face_detection.cpp)
-
+add_executable(face_tracking src/face_tracking.cpp)
+add_executable(face_listener src/face_listener.cpp)
 
 
 ## Add cmake target dependencies of the executable/library
 ## as an example, message headers may need to be generated before nodes
 # add_dependencies(face_detection_node face_detection_generate_messages_cpp)
 add_dependencies(face_detection ${PROJECT_NAME}_gencfg)
+add_dependencies(face_tracking ${PROJECT_NAME}_gencfg)
 
 
 
@@ -133,6 +136,12 @@ add_dependencies(face_detection ${PROJECT_NAME}_gencfg)
 target_link_libraries(face_detection
    ${catkin_LIBRARIES}
 )
+target_link_libraries(face_tracking
+   ${catkin_LIBRARIES}
+)
+target_link_libraries(face_listener
+   ${catkin_LIBRARIES}
+)
 
 
 #############

README.md

@@ -22,14 +22,19 @@ in a timely manner.
 
 
 **Why use this package:**
-This ROS node is designed to detect faces in images coming from a ROS image
-topic. Currently this node displays or publishes an image with the resulting
-detections drawn on top of the image. The settings of the detection system
-can be easily adapted using ROS rqt_reconfigure.
+These ROS nodes are designed to detect and track faces in images coming from a
+ROS image topic. The nodes display or publish an image with the resulting
+detections drawn on top of the image. The settings of the detection system can
+be easily adapted using ROS rqt_reconfigure (rosrun rqt_reconfigure
+rqt_reconfigure). The nodes also publish the coordinates of the faces.
 
 **How to Use this package:**
 To run the package, use the provided RosLaunch file as follows:
   - roslaunch face_detection face_detection.launch
+  - roslaunch face_detection face_tracking.launch
+
+To see the coordinates published by the nodes, launch the listener node:
+  - rosrun face_detection face_listener
 
 The settings of the program can be changed with the ROS rqt_reconfigure setup.
   - rosrun rqt_reconfigure rqt_reconfigure
@@ -39,9 +44,31 @@ Once you have the rqt_reconfigure open, change the input image default
 different settings are annotated in the dynamic reconfigure setup (hover over
 the setting in the rqt_reconfigure for additional information)
 
+**Requirements:**
+This node was designed for ROS Indigo and requires a catkin workspace. The node
+also makes use of OpenCV. The node has been tested under OpenCV 2.4.8 and 3.0.0.
+To be able to get your images into the node, you will need to ROS Vision_OpenCV
+package (http://wiki.ros.org/vision_opencv). You will also need a driver which
+can read the images from your camera and which can publish these images inside
+ROS, like for example ueye_cam (http://wiki.ros.org/ueye_cam) or usb_cam
+(http://wiki.ros.org/usb_cam).
+
+**Multi-threading:**
+In order to get the best performance out of the detection, you should compile
+your OpenCV package with Multi-threading support. OpenCV makes use of TBB
+(WITH_TBB=ON)to to enable Multi-threading, for both versions 2.4 and 3.0. Here
+is a tutorial on how to install OpenCV with Multi-threading for version 3.0
+(http://rodrigoberriel.com/2014/10/installing-opencv-3-0-0-on-ubuntu-14-04/).
+
+WARNING: Reinstalling OpenCV might break some of you other ROS packages, so you
+might want to stick to your current version. This node will also run without
+Multi-threading support, but especially the Face_Tracking node will run
+considerably slower.
+
 **Future plans:**
-This package is currently still under development and will shortly support
-the publication of the face coordinate.
+This package is currently still under development and will be updated
+continuously. Please report any problems or desired features, feedback is
+always welcome.
 
 
 

cfg/face_det.cfg

@@ -0,0 +1,89 @@
+#!/usr/bin/env python
+PACKAGE = "face_detection"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+
+gen = ParameterGenerator()
+gen.add("imageInput",              str_t,    0,
+        "Subscribe to this image topic",
+         "/camera/image_raw")
+gen.add("imageOutput",              str_t,    0,
+        "Publish to this image topic",
+         "/facerec/image_raw")
+gen.add("skipFrames",              int_t,    0,
+        "Skip frames that are used for detection",
+         1, 1, 20)
+
+
+imgScale_enum = gen.enum([ gen.const("No_Resize",      double_t, 1, ""),
+                         gen.const("Resize_by_0_875",     double_t, 0.875, ""),
+                         gen.const("Resize_by_0_75",     double_t, 0.75, ""),
+                         gen.const("Resize_by_0_625",     double_t, 0.625, ""),
+                         gen.const("Resize_by_0_5",     double_t, 0.5, ""),
+                         gen.const("Resize_by_0_375",     double_t, 0.375, ""),
+                         gen.const("Resize_by_0_25",     double_t, 0.25, ""),
+                         gen.const("Resize_by_0_125",     double_t, 0.125, "")],
+                        "The detection image will be resized by this value. (great performance increase).")
+gen.add("imgScale", double_t, 0, "Select a scaling factor for the detection image", 1, edit_method=imgScale_enum)
+
+
+gen.add("neighborsValue",              int_t,    0,
+        "The number of neiboring detections required for a sucessfull detection",
+         2, 0, 8)
+gen.add("scaleValue",              double_t,    0,
+        "Multiplicator for each step of the detection",
+         1.2, 1.01, 1.50)
+gen.add("minSize",              int_t,    0,
+        "Minimum size for the search window.",
+         13, 1, 100)
+gen.add("maxSize",              int_t,    0,
+        "Maximum size for the search window.",
+         250, 5, 1024)
+
+cascade_enum = gen.enum([ gen.const("haarcascade_frontalface_alt",      int_t, 0, ""),
+                         gen.const("haarcascade_frontalface_alt2",     int_t, 1, ""),
+                          gen.const("haarcascade_frontalface_alt_tree",      int_t, 2, ""),
+                          gen.const("haarcascade_frontalface_default", int_t, 3, "")],
+                        "An enum to set size")
+gen.add("cascadeValue", int_t, 0, "Select a Cascade", 2, edit_method=cascade_enum)
+
+myflag_enum = gen.enum([ gen.const("Scale",      int_t, 0, "Standart type"),
+                         gen.const("Biggest",     int_t, 1, "Only returns the biggest detection"),
+                          gen.const("Canny",      int_t, 2, "Reduces Canny pruning to reduce the number of false detections"),
+                          gen.const("Rough", int_t, 3, "Rought Detection Search")],
+                        "An enum to set size")
+gen.add("myflag", int_t, 0, "Select a type of detection", 2, edit_method=myflag_enum)
+
+
+debug_enum = gen.enum([ gen.const("No_Debugging",      int_t, 0, ""),
+                         gen.const("Displays_Image",     int_t, 1, ""),
+                          gen.const("Displays_Detection_Image",      int_t, 2, "")],
+                        "An enum to set debugging")
+gen.add("debug", int_t, 0, "Select type of debugging", 1, edit_method=debug_enum)
+
+pixelSwitch_enum = gen.enum([ gen.const("Detection_Boxes", int_t, 0, "Draws Detection Boxes"),
+                             gen.const("Pixelise",        int_t, 1, "Pixelises the detected Faces")],
+                             "An enum to set pixelSwitch")
+gen.add("pixelSwitch", int_t, 1, "Select a detection display type", 0, edit_method=pixelSwitch_enum)
+
+
+
+gen.add("contrastFactor",              double_t,    0,
+        "The contrast factor applied to the image to improve detection",
+         1.5, 0.2, 2.5)
+gen.add("histOnOff",              int_t,    0,
+        "Activates histogram equalisation",
+         0, 0, 1)
+gen.add("blurFactor",              int_t,    0,
+        "blurs the image a little, used to reduce noise on full resolution images (imageScaleValue = 1)",
+         0, 0, 10)
+gen.add("brightnessFactor",              int_t,    0,
+        "brightens up the image",
+         0, 0, 5)
+gen.add("inputSkipp",              int_t,    0,
+        "start skipping frames from the input after X frames, generally use '1' for realtime feedback, or much higher values for saving image sequences to disk",
+         1, 1, 10000)
+
+
+exit(gen.generate(PACKAGE, "face_detection", "face_det"))

cfg/face_track.cfg

@@ -0,0 +1,111 @@
+#!/usr/bin/env python
+PACKAGE = "face_detection"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+
+gen = ParameterGenerator()
+gen.add("imageInput",              str_t,    0,
+        "Subscribe to this image topic",
+         "/ardrone/image_raw")
+gen.add("imageOutput",              str_t,    0,
+        "Publish to this image topic",
+         "/facerec/image_raw")
+gen.add("skipFrames",              int_t,    0,
+        "Skip frames that are used for detection",
+         1, 1, 20)
+
+imgScale_enum = gen.enum([ gen.const("No_Resize",      double_t, 1, ""),
+                         gen.const("Resize_by_0_875",     double_t, 0.875, ""),
+                         gen.const("Resize_by_0_75",     double_t, 0.75, ""),
+                         gen.const("Resize_by_0_625",     double_t, 0.625, ""),
+                         gen.const("Resize_by_0_5",     double_t, 0.5, ""),
+                         gen.const("Resize_by_0_375",     double_t, 0.375, ""),
+                         gen.const("Resize_by_0_25",     double_t, 0.25, ""),
+                         gen.const("Resize_by_0_125",     double_t, 0.125, "")],
+                        "The detection image will be resized by this value. (great performance increase).")
+gen.add("imgScale", double_t, 0, "Select a scaling factor for the detection image", 0.625, edit_method=imgScale_enum)
+
+
+gen.add("neighborsValue",              int_t,    0,
+        "The number of neiboring detections required for a sucessfull detection",
+         2, 0, 8)
+gen.add("scaleValue",              double_t,    0,
+        "Multiplicator for each step of the detection",
+         1.2, 1.01, 1.50)
+gen.add("minSize",              int_t,    0,
+        "Minimum size for the search window.",
+         13, 1, 100)
+gen.add("maxSize",              int_t,    0,
+        "Maximum size for the search window.",
+         250, 5, 1024)
+
+cascade_enum = gen.enum([ gen.const("haarcascade_frontalface_alt",      int_t, 0, ""),
+                         gen.const("haarcascade_frontalface_alt2",     int_t, 1, ""),
+                          gen.const("haarcascade_frontalface_alt_tree",      int_t, 2, ""),
+                          gen.const("haarcascade_frontalface_default", int_t, 3, "")],
+                        "An enum to set size")
+gen.add("cascadeValue", int_t, 0, "Select a Cascade", 2, edit_method=cascade_enum)
+
+myflag_enum = gen.enum([ gen.const("Scale",      int_t, 0, "Standart type"),
+                         gen.const("Biggest",     int_t, 1, "Only returns the biggest detection"),
+                          gen.const("Canny",      int_t, 2, "Reduces Canny pruning to reduce the number of false detections"),
+                          gen.const("Rough", int_t, 3, "Rought Detection Search")],
+                        "An enum to set size")
+gen.add("myflag", int_t, 0, "Select a type of detection", 2, edit_method=myflag_enum)
+
+
+debug_enum = gen.enum([ gen.const("No_Debugging",      int_t, 0, ""),
+                         gen.const("Displays_Image",     int_t, 1, ""),
+                          gen.const("Displays_Detection_Image",      int_t, 2, ""),
+                          gen.const("Displays_Image_noPublishing",      int_t, 3, "")],
+                        "An enum to set debugging")
+gen.add("debug", int_t, 0, "Select type of debugging", 1, edit_method=debug_enum)
+
+pixelSwitch_enum = gen.enum([ gen.const("Detection_Boxes", int_t, 0, "Draws Detection Boxes"),
+                             gen.const("Pixelise",        int_t, 1, "Pixelises the detected Faces")],
+                             "An enum to set pixelSwitch")
+gen.add("pixelSwitch", int_t, 1, "Select a detection display type", 0, edit_method=pixelSwitch_enum)
+
+
+gen.add("contrastFactor",              double_t,    0,
+        "The contrast factor applied to the image to improve detection",
+         1.5, 0.2, 2.5)
+
+histOnOff_enum = gen.enum([ gen.const("Histogram_Equalisation_OFF", int_t, 0, ""),
+                             gen.const("Histogram_Equalisation_ON",        int_t, 1, "")],
+                             "An enum to set pixelSwitch")
+gen.add("histOnOff", int_t, 1, "Select a detection display type", 0, edit_method=histOnOff_enum)
+
+
+
+gen.add("blurFactor",              int_t,    0,
+        "blurs the image a little, used to reduce noise on full resolution images (imageScaleValue = 1)",
+         0, 0, 10)
+gen.add("brightnessFactor",              int_t,    0,
+        "brightens up the image",
+         0, 0, 5)
+gen.add("inputSkipp",              int_t,    0,
+        "start skipping frames from the input after X frames, generally use '1' for realtime feedback, or much higher values for saving image sequences to disk",
+         1, 1, 10000)
+
+
+
+gen.add("maxNumFeatures",              int_t,    0,
+        "Number of features used to track each face",
+         15, 1, 100)
+
+gen.add("maxTrackingNum",              int_t,    0,
+        "Number of times a face is tracked after being detected again",
+         60, 1, 200)
+
+gen.add("initialDetectionNum",              int_t,    0,
+        "Number of times a face is tracked after the first detection",
+         4, 1, 10)
+
+gen.add("trackSearchWinSize",              int_t,    0,
+        "Number of times a face is tracked after the first detection",
+         30, 5, 200)
+
+# needs file name and config name
+exit(gen.generate(PACKAGE, "face_tracking", "face_track"))