cv_face_detect

demo_cmakelists/9_cv_face_detect.txt

@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 3.8)
+project(cv_pkg)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(OpenCV REQUIRED)
+
+add_executable(cv_face_detect src/cv_face_detect.cpp)
+ament_target_dependencies(cv_face_detect
+  "rclcpp" "sensor_msgs" "cv_bridge" "OpenCV")
+
+install(TARGETS cv_face_detect
+DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

demo_cpp/9_cv_face_detect.cpp

@@ -1,7 +1,7 @@
 #include <rclcpp/rclcpp.hpp>
-#include <cv_bridge/cv_bridge.h>
 #include <sensor_msgs/msg/image.hpp>
 #include <sensor_msgs/msg/region_of_interest.hpp>
+#include <cv_bridge/cv_bridge.h>
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/highgui/highgui.hpp>
 

demo_package/9_cv_face_detect.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>cv_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="robot@6-robot.com">robot</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>cv_bridge</depend>
+  <depend>OpenCV</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

launch/wpb_face.launch.py

@@ -87,6 +87,6 @@ def generate_launch_description():
 
     ld.add_action(spawn_robot_cmd)
     ld.add_action(spawn_kai)
-    ld.add_action(detect_faces_cmd)
+    #ld.add_action(detect_faces_cmd)
 
     return ld