[fix] yes

robot_vision/launch/face_detector.launch

@@ -18,4 +18,12 @@
     <param name="cascade_1" value="$(find robot_vision)/data/haar_detectors/haarcascade_frontalface_alt.xml" />
     <param name="cascade_2" value="$(find robot_vision)/data/haar_detectors/haarcascade_profileface.xml" />
   </node>
+
+  <node
+      pkg="rqt_image_view"
+      type="rqt_image_view"
+      name="rqt_image_view"
+      output="screen"
+  />
+
 </launch>

robot_vision/launch/motion_detector.launch

@@ -14,4 +14,12 @@
         threshold: 25
     </rosparam>
   </node>
+
+  <node
+      pkg="rqt_image_view"
+      type="rqt_image_view"
+      name="rqt_image_view"
+      output="screen"
+  />
+
 </launch>

robot_vision/scripts/face_detector.py

@@ -63,7 +63,7 @@ def image_cb(msg, cv_bridge, haar_param, image_pub):
     if len(faces_result) > 0:
         for face in faces_result:
             x,y,w,h = face
-            cv2.rectangle()
+            cv2.rectangle(cv_image, (x, y), (x+w, y+h), haar_param.color, 2)
     else:
         print("%u: no face in current image" %rospy.get_time())
     

robot_vision/scripts/motion_detector.py

@@ -39,7 +39,7 @@ def image_cb(msg, cv_bridge, detector_param, image_pub):
     
     for c in cnts:
       # 如果检测到的区域小于设置值，则忽略
-      if cv2.contourArea(c) < self.minArea:
+      if cv2.contourArea(c) < detector_param.minArea:
         continue
       
       # 在输出画面上框出识别到的物体