ros by example 人脸识别跟踪总结

最新推荐文章于 2020-08-25 09:31:34 发布
最新推荐文章于 2020-08-25 09:31:34 发布
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分类专栏： ROS 文章标签： 脸部识别 机器人 跟踪-ROS
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本文链接：https://blog.youkuaiyun.com/u012706484/article/details/52267719
本文详细介绍了使用ROS实现人脸识别与跟踪的过程，包括环境搭建、OpenNI及OpenCV配置、人脸检测与跟踪节点运行等关键步骤，并分享了一些实用技巧。

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《ros by example 人脸识别跟踪总结》

 最近一直在做人脸识别与跟踪这个方面的研究，想着几天下来接触过的知识几类容实在太多，时间一长有可能就会忘记，特别是编程时才犯的一些错误，等到下次在重新编译同一串代码时希望能提醒自己，节约时间，所以对这几天的工作做一些小的总结：
 此次主要针对《ros by example》这本书后面第十/十一/十二三章类容，因为后面三章主要讲述机器人在人脸检测/跟踪方面。
 首先在看之前要根据前面六章的类容把ros的基本环境给配置好，特别时rbx1这个包下载并编译好，书上有就不在说了。
 （1）安装openni，ros的相机驱动，所以直接在终端输入：

$ sudo apt-get install ros-indigo-openni-* ros-indigo-openni2-* \ros-indigo-freenect-*
$ rospack profile

下面测试你的camera，我是用的时xtion，所以输入：

$ roslaunch openni2_launch openni2.launch depth_registration:=true

接下来运行：$ rosrun image_view image_view image:=/camera/rgb/image_raw
你就可以看到一个小窗口图像了。
要是获取深度图像运行：$ rosrun image_view image_view
image:=/camera/ depth_registered /image_rect

然后Installing OpenCV on Ubuntu Linux：

$ sudo apt-get install ros-indigo-vision-opencv libopencv-dev \python-opencv
$ rospack profile

检测一下安装是否正确：

$ python
>>> from cv2 import cv
>>> quit()

至此基本的相机方面的配置完成，可以看到成像，一般不会有什么错误。

（2）Face Detection

  1. 首先连接你的camera
    Kinect：$ roslaunch freenect_launch freenect registered-xyzrgb.launch
    xtion：$ roslaunch openni2_launch openni2.launch depth_registration:=true
  2. 运行人脸检测节点
$ roslaunch rbx1_vision face_detector.launch

这时出现的窗口就可以做简单的检测，效果挺差。。。
3. 使用光流法检测：roslaunch rbx1_vision lk_tracker.launch
效果要好点，但差强人意啊。
4. 建立人脸跟踪：$ roslaunch rbx1_vision face_tracker.launch
此时窗口中检测到的人脸框会随着你的移动二移动。
5. 针对4中的方法做了一个优化，对keypoint有一个增加和丢弃的选择过程：$ roslaunch rbx1_vision face_tracker2.launch
6. Color Blob Tracking (CamShift)：$ roslaunch rbx1_vision camshift.launch

 注：***此过程中因为使用catkin_ws工作间中事先你导入的rbx1包，所以你每次打开一个新的终端运行其中的.launch文件时都要进行编译：$ catkin_make
   $ source devel/setup.bash***
 至此，书中的人脸检测基本结束，但是运行的效果真的是有点不太好，所以还在想这怎么改进，正在查阅相关资料，后续补充。。。

(2) 跟踪
1. 在虚拟环境中进行跟踪测试
首先一样，打开 xtion camera：$ roslaunch openni2_launch openni2.launch depth_registration:=true
依次打开新的终端，编译catkin_ws工作区间，然后输入
face_tracker2 node：$ roslaunch rbx1_vision face_tracker2.launch
object_tracker node：$ roslaunch rbx1_apps object_tracker.launch
turtlebot 模型：$ roslaunch rbx1_bringup fake_turtlebot.launch
rviz :$ rosrun rviz rviz -drospack find rbx1_nav/sim.rviz
这样基本上可以看到一个有光流法人脸检测跟踪的窗口了，这个效果还是可以的，基本检测到一个人时，一直到改人消失才会检测第二个人。
2. 测试对象跟随
打开camera：$ roslaunch openni2_launch openni2.launch depth_registration:=true
fake TurtleBot and RViz :
$ roslaunch rbx1_bringup fake_turtlebot.launch
$ rosrun rviz rviz -drospack find rbx1_nav/sim.rviz
face_tracker2 node：$ roslaunch rbx1_vision face_tracker2.launch
object_follower node:$ roslaunch rbx1_apps object_follower.launch
CamShift node：$ roslaunch rbx1_vision camshift.launch
依次运行即可。通过$ rostopic list 可以看到topic信息。

基本的情况就是这样了，后面还在看资料，有新的发现后续补充。。求有相关研究的大牛们能够给我一点指导和资料，加我也可以哦。
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Creating a URDF Model for your Robot....................................................89 4.1 Start with the Base and Wheels..........................................................................90 4.1.1 The robot_state_publisher and joint_state_publisher nodes....................................91 4.1.2 The base URDF/Xacro file......................................................................................92 4.1.3 Alternatives to using the /base_footprint frame......................................................97 4.1.4 Adding the base to the robot model.........................................................................97 4.1.5 Viewing the robot's transform tree..........................................................................98 4.1.6 Using a mesh for the base........................................................................................99 4.2 Simplifying Your Meshes.................................................................................104 4.3 Adding a Torso.................................................................................................104 4.3.1 Modeling the torso.................................................................................................105 4.3.2 Attaching the torso to the base..............................................................................106 4.3.3 Using a mesh for the torso.....................................................................................107 4.3.4 Adding the mesh torso to the mesh base...............................................................108 4.4 Measure, Calculate and Tweak.........................................................................110 4.5 Adding a Camera..............................................................................................110 4.5.1 Placement of the camera........................................................................................111 4.5.2 Modeling the camera.............................................................................................112 4.5.3 Adding the camera to the torso and base...............................................................114 4.5.4 Viewing the transform tree with torso and camera................................................115 4.5.5 Using a mesh for the camera.................................................................................116 4.5.6 Using an Asus Xtion Pro instead of a Kinect........................................................118 4.6 Adding a Laser Scanner (or other Sensors)......................................................119 4.6.1 Modeling the laser scanner....................................................................................119 4.6.2 Attaching a laser scanner (or other sensor) to a mesh base...................................120 4.6.3 Configuring the laser node launch file..................................................................121 4.7 Adding a Pan and Tilt Head..............................................................................122 4.7.1 Using an Asus Xtion Pro instead of a Kinect........................................................124 4.7.2 Modeling the pan-and-tilt head..............................................................................124 4.7.3 Figuring out rotation axes......................................................................................127 4.7.4 A pan and tilt head using meshes on Pi Robot......................................................128 4.7.5 Using an Asus Xtion Pro mesh instead of a Kinect on Pi Robot...........................129 4.8 Adding One or Two Arms................................................................................129 4.8.1 Placement of the arm(s).........................................................................................130 4.8.2 Modeling the arm...................................................................................................130 4.8.3 Adding a gripper frame for planning.....................................................................133 4.8.4 Adding a second arm.............................................................................................134 4.8.5 Using meshes for the arm servos and brackets......................................................136 4.9 Adding a Telescoping Torso to the Box Robot.................................................138 4.10 Adding a Telescoping Torso to Pi Robot........................................................139 4.11 A Tabletop One-Arm Pi Robot.......................................................................140 4.12 Testing your Model with the ArbotiX Simulator............................................142 4.12.1 A fake Box Robot................................................................................................142 4.12.2 A fake Pi Robot...................................................................................................145 4.13 Creating your own Robot Description Package..............................................145 4.13.1 Using rosbuild......................................................................................................145 4.13.2 Using catkin.........................................................................................................146 4.13.3 Copying files from the rbx2_description package...............................................147 4.13.4 Creating a test launch file....................................................................................147 5. Controlling Dynamixel Servos: Take 2......................................................149 5.1 Installing the ArbotiX Packages.......................................................................149 5.2 Launching the ArbotiX Nodes..........................................................................150 5.3 The ArbotiX Configuration File.......................................................................154 5.4 Testing the ArbotiX Joint Controllers in Fake Mode........................................160 5.5 Testing the Arbotix Joint Controllers with Real Servos....................................162 5.6 Relaxing All Servos..........................................................................................165 5.7 Enabling or Disabling All Servos.....................................................................168 6. Robot Diagnostics........................................................................................169 6.1 The DiagnosticStatus Message.........................................................................170 6.2 The Analyzer Configuration File......................................................................171 6.3 Monitoring Dynamixel Servo Temperatures....................................................172 6.3.1 Monitoring the servos for a pan-and-tilt head.......................................................172 6.3.2 Viewing messages on the /diagnostics topic.........................................................175 6.3.3 Protecting servos by monitoring the /diagnostics topic.........................................177 6.4 Monitoring a Laptop Battery............................................................................181 6.5 Creating your Own Diagnostics Messages.......................................................182 6.6 Monitoring Other Hardware States...................................................................188 7. Dynamic Reconfigure..................................................................................191 7.1 Adding Dynamic Parameters to your own Nodes.............................................192 7.1.1 Creating the .cfg file..............................................................................................192 7.1.2 Making the .cfg file executable.............................................................................193 7.1.3 Configuring the CMakeLists.txt file......................................................................194 7.1.4 Building the package.............................................................................................194 7.2 Adding Dynamic Reconfigure Capability to the Battery Simulator Node........194 7.3 Adding Dynamic Reconfigure Client Support to a ROS Node.........................198 7.4 Dynamic Reconfigure from the Command Line...............................................201 8. Multiplexing Topics with mux & yocs.......................................................203 8.1 Configuring Launch Files to Use mux Topics..................................................204 8.2 Testing mux with the Fake TurtleBot...............................................................205 8.3 Switching Inputs using mux Services...............................................................206 8.4 A ROS Node to Prioritize mux Inputs..............................................................207 8.5 The YOCS Controller from Yujin Robot..........................................................210 8.5.1 Adding input sources.............................................................................................213 9. Head Tracking in 3D...................................................................................215 9.1 Tracking a Fictional 3D Target.........................................................................216 9.2 Tracking a Point on the Robot..........................................................................217 9.3 The 3D Head Tracking Node............................................................................220 9.3.1 Real or fake head tracking.....................................................................................220 9.1.2 Projecting the target onto the camera plane...........................................................221 9.4 Head Tracking with Real Servos......................................................................224 9.4.1 Real servos and fake target....................................................................................225 9.4.2 Real servos, real target...........................................................................................226 9.4.3 The nearest_cloud.py node and launch file...........................................................228 10. Detecting and Tracking AR Tags.............................................................233 10.1 Installing and Testing the ar_track_alvar Package..........................................234 10.1.1 Creating your own AR Tags................................................................................234 10.1.2 Generating and printing the AR tags...................................................................236 10.1.3 Launching the camera driver and ar_track_alvar node.......................................236 10.1.4 Testing marker detection.....................................................................................238 10.1.5 Understanding the /ar_pose_marker topic...........................................................238 10.1.6 Viewing the markers in RViz..............................................................................240 10.2 Accessing AR Tag Poses in your Programs....................................................240 10.2.1 The ar_tags_cog.py script....................................................................................240 10.2.2 Tracking the tags with a pan-and-tilt head..........................................................244 10.3 Tracking Multiple Tags using Marker Bundles..............................................245 10.4 Following an AR Tag with a Mobile Robot....................................................245 10.4.1 Running the AR follower script on a TurtleBot .................................................248 10.5 Exercise: Localization using AR Tags............................................................249 11. Arm Navigation using MoveIt!.................................................................251 11.1 Do I Need a Real Robot with a Real Arm?.....................................................252 11.2 Degrees of Freedom.......................................................................................252 11.3 Joint Types.....................................................................................................253 11.4 Joint Trajectories and the Joint Trajectory Action Controller.........................254 11.5 Forward and Inverse Arm Kinematics............................................................257 11.6 Numerical versus Analytic Inverse Kinematics..............................................258 11.7 The MoveIt! Architecture...............................................................................258 11.8 Installing MoveIt!...........................................................................................260 11.9 Creating a Static URDF Model for your Robot .............................................261 11.10 Running the MoveIt! Setup Assistant...........................................................262 11.10.1 Load the robot's URDF model...........................................................................263 11.2.2 Generate the collision matrix.............................................................................264 11.10.3 Add the base_odom virtual joint.......................................................................264 11.10.4 Adding the right arm planning group................................................................265 11.10.5 Adding the right gripper planning group...........................................................269 11.10.6 Defining robot poses..........................................................................................271 11.10.7 Defining end effectors.......................................................................................273 11.10.8 Defining passive joints......................................................................................273 11.10.9 Generating the configuration files.....................................................................273 11.11 Configuration Files Created by the MoveIt! Setup Assistant........................275 11.11.1 The SRDF file (robot_name.srdf)......................................................................275 11.11.2 The fake_controllers.yaml file...........................................................................276 11.11.3 The joint_limits.yaml file..................................................................................277 11.11.4 The kinematics.yaml file...................................................................................278 11.12 The move_group Node and Launch File.......................................................280 11.13 Testing MoveIt! in Demo Mode...................................................................280 11.13.1 Exploring additional features of the Motion Planning plugin...........................284 11.13.2 Re-running the Setup Assistant at a later time..................................................285 11.14 Testing MoveIt! from the Command Line....................................................286 11.15 Determining Joint Configurations and End Effector Poses...........................289 11.16 Using the ArbotiX Joint Trajectory Action Controllers................................292 11.16.1 Testing the ArbotiX joint trajectory action controllers in simulation...............292 11.16.2 Testing the ArbotiX joint trajectory controllers with real servos......................300 11.17 Configuring MoveIt! Joint Controllers.........................................................301 11.17.1 Creating the controllers.yaml file......................................................................302 11.17.2 Creating the controller manager launch file......................................................304 11.18 The MoveIt! API..........................................................................................305 11.19 Forward Kinematics: Planning in Joint Space..............................................306 11.20 Inverse Kinematics: Planning in Cartesian Space.........................................314 11.21 Pointing at or Reaching for a Visual Target..................................................322 11.22 Setting Constraints on Planned Trajectories.................................................324 11.22.1 Executing Cartesian Paths.................................................................................324 11.22.2 Setting other path constraints............................................................................330 11.23 Adjusting Trajectory Speed..........................................................................333 11.24 Adding Obstacles to the Planning Scene......................................................337 11.25 Attaching Objects and Tools to the Robot....................................................346 11.26 Pick and Place..............................................................................................348 11.27 Adding a Sensor Controller..........................................................................360 11.28 Running MoveIt! on a Real Arm..................................................................363 11.28.1 Creating your own launch files and scripts.......................................................364 11.28.2 Running the robot's launch files........................................................................364 11.2.3 Forward kinematics on a real arm.....................................................................365 11.28.4 Inverse kinematics on a real arm.......................................................................366 11.28.5 Cartesian paths on a real arm.............................................................................367 11.28.6 Pick-and-place on a real arm.............................................................................367 11.28.7 Pointing at or reaching for a visual target..........................................................367 11.29 Creating a Custom Fast IK Plugin................................................................368 12. Gazebo: Simulating Worlds and Robots.................................................375 12.1 Installing Gazebo............................................................................................376 12.2 Hardware Graphics Acceleration....................................................................377 12.3 Installing the ROS Gazebo Packages..............................................................378 12.4 Installing the Kobuki ROS Packages..............................................................379 12.5 Installing the UBR-1 Files..............................................................................379 12.6 Using the Gazebo GUI...................................................................................379 12.7 Missing Model Bug in Gazebo 1.9.................................................................381 12.8 Testing the Kobuki Robot in Gazebo..............................................................383 12.8.1 Accessing simulated sensor data.........................................................................385 12.8.2 Adding safety control to the Kobuki...................................................................389 12.8.3 Running the nav_square.py script from Volume 1..............................................391 12.9 Loading Other Worlds and Objects................................................................392 12.10 Testing the UBR-1 Robot in Gazebo............................................................393 12.10.1 UBR-1 joint trajectories.....................................................................................394 12.1.2 The UBR-1 and MoveIt!....................................................................................395 12.11 Real Pick-and-Place using the UBR-1 Perception Pipeline..........................397 12.11.1 Limitations of depth cameras............................................................................398 12.11.2 Running the demo..............................................................................................399 12.11.3 Understanding the real_pick_and_place.py script.............................................404 12.12 Running Gazebo Headless + RViz...............................................................407 13. Rosbridge: Building a Web GUI for your Robot...................................411 13.1 Installing the rosbridge Packages...................................................................411 13.2 Installing the mjpeg_sever Package................................................................412 13.3 Installing a Simple Web Server (mini-httpd)..................................................415 13.4 Starting mini-httpd, rosbridge and mjpeg_server............................................416 13.5 A Simple rosbridge HTML/Javascript GUI....................................................417 13.6 Testing the GUI with a Fake TurtleBot..........................................................420 13.7 Testing the GUI with a Real Robot.................................................................420 13.8 Viewing the Web GUI on another Device on your Network..........................421 13.9 Using the Browser Debug Console.................................................................421 13.10 Understanding the Simple GUI.....................................................................423 13.10.1 The HTML layout: simple_gui.html.................................................................423 13.1.2 The JavaScript code: simple_gui.js...................................................................428 13.11 A More Advanced GUI using jQuery, jqWidgets and KineticJS..................438 13.12 Rosbridge Summary.....................................................................................443 Appendix: Plug and Play USB Devices for ROS: Creating udev Rules......445 13.13 Adding yourself to the dialout Group...........................................................445 13.14 Determining the Serial Number of a Device.................................................446 13.15 UDEV Rules.................................................................................................447 13.16 Testing a UDEV Rule...................................................................................448 13.17 Using a UDEV Device Name in a ROS Configuration File..........................448
ros by examples learning
kaixingguo1的博客
05-24 645
1、rviz
【仿真】Ros by example1 控制底座、导航、路径规划、SLAM
try_again_later的博客
10-02 1284
为了快速浏览教程，先从ArbotiX虚拟器开始。具体代码看ros-by-example 1,主要讲述实现过程。 首先要启动一个虚拟的Turtlebot $ roslaunch rbx1_bringup fake_turtlebot.launch 另一个终端，打开RViz可视化机器人运动 $ rosrun rviz rviz -d `rospack find rbx1_nav`/sim....
Ros By example-第八章 导航，路劲规划和SLAM
damifeng2018的博客
07-26 975
SLAM 一般使用昂贵的激光传扫描器来收集数据， 但是现在可以使用 Kinect或者Asus Xtion 等深度相机来使用点云的方式来模拟激光扫描。
ros_by_example的安装
lzw508170827的博客
08-25 420
环境：ubuntu14 sudo apt-get install -y ros-indigo-turtlebot-bringup \ ros-indigo-turtlebot-create-desktop ros-indigo-openni-* \ ros-indigo-openni2-* ros-indigo-freenect-* ros-indigo-usb-cam \ ros-indigo-laser-* ros-indigo-hokuyo-node \ ros-indigo-audio-common
ROS环境下实现人脸识别与坐标输出
总结来说，ROS下的进行人脸识别并输出人脸坐标位置是一个涉及多个技术和工具的综合应用。开发者需要熟悉ROS的工作原理、计算机视觉库的使用，以及如何将这些库集成进ROS框架中。通过这种方式，可以实现机器人或...
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