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Node2.py
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Node2.py
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#!/usr/bin/env python
import rospy
import cv2
from cv_bridge import CvBridge
from sensor_msgs.msg import Image
import numpy as np
face_cascade=cv2.CascadeClassifier("/home/srijan/catkin_ws/src/task3/haarcascade_frontalface_default.xml") #Path to XML file of classifier
bridge=CvBridge()
cap=cv2.VideoCapture("/home/srijan/Downloads/opencv-master/samples/data/Face_Detect.mp4")
def callback(data):
data_ros=bridge.imgmsg_to_cv2(data,desired_encoding="passthrough")
_,frame=cap.read()
gray=cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY)
faces=face_cascade.detectMultiScale(gray,1.1,4)
for (x, y, w, h) in faces: #Cropping the image
r = max(w, h) / 2
centerx = x + w / 2
centery = y + h / 2
nx = int(centerx - r)
ny = int(centery - r)
nr = int(r * 2)
cropped = data_ros[ny:ny+nr, nx:nx+nr]
cv2.namedWindow('frame',cv2.WINDOW_NORMAL) #For resizing the output window
cv2.resizeWindow('frame', 100,100)
cv2.imshow('frame',cropped)
if cv2.waitKey(25) & 0xFF == ord('q'):
cv2.destroyAllWindows()
def listener():
rospy.init_node("Node2",anonymous=True)
rospy.Subscriber("/image_raw",Image,callback)
rospy.loginfo("Subscriber is starting")
rospy.spin()
if __name__=='__main__':
listener()