ROS face_recognition 人脸识别


     ROS下人脸识别
文档地址：http://www.ros.org/wiki/face_recognition
运行步骤及注意：
1、运行face_recognition中的Tutorial前，需要安装gscam软件包
注：gscam( A  ROS camera driver that uses gstreamer to connect to devices such as webcams)是一个摄像机驱动，可以驱动网络摄像头也就是聊QQ时用的笔记本上的摄像头。
安装地址：http://www.ros.org/wiki/gscam
安装步骤：
   安装路径：/ros
(1)  svn co http://brown-ros-pkg.googlecode. ... ribution/brown_perc
eption/gscam
(2)  cd gscam
rosmake –rosdep-install gscam   编译安装依赖包
(3)  roscd gscam
cd bin
export GSCAM_CONFIG="v4l2src device=/dev/video2 ! video/x-raw-rgb ! ffmpegcolorspace"
rosrun gscam gscam
注意：如果没有运行起来，则可以试一下修改device=/dev/video2为device=/dev/video0

2、安装face_recognition软件包
安装步骤：
安装路径：/ros
(1)  git clone git://github.com/procrob/procrob_functional.git
(2)  cd ros/procrob_functonal
rosmake  --rosdep-install procrob_functional
3、 运行步骤
(1) roscore
(2) roscd gscam/bin
rosrun gscam gscam /gscam/image_raw:=/camera/image_raw
(3) rosrun face_recognition Fserver
rosrun face_recognition Fclient
注意：运行此步骤时一定要将运行路径调整为/ros/procrob_functional下，因为face_recognition文件存在于该路径下
(4) To acquire training images for your face: you should try to appear in the video stream!  以你的脸部作为训练图片
rostopic pub -1 /fr_order face_recognition/FRClientGoal -- 2 "your_name"

To recognise faces continuously. This would not stop until you preempt or cancel the goal. So lets preempt it by sending the next goal.识别脸部
rostopic pub -1 /fr_order face_recognition/FRClientGoal -- 1 "none"