Working with the face-tracking ROS package

We have already created or copied the face_tracker_pkg package to the workspace and have discussed some of its important dependencies. Now, we are going to discuss what this package exactly does!

This package consists of a ROS node called face_tracker_node that can track faces using OpenCV APIs and publish the centroid of the face to a topic. Here is the block diagram of the working of face_tracker_node:

Working with the face-tracking ROS package

Figure 15: Block diagram of face_tracker_node

Let's discuss the things connected to face_tracker_node. One of the sections that may be unfamiliar to you is the face Haar classifier:

  • Face Haar classifier

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