[feat] init face_detector

robot_vision/CMakeLists.txt

@@ -163,7 +163,7 @@ include_directories(
 ## Mark executable scripts (Python etc.) for installation
 ## in contrast to setup.py, you can choose the destination
 catkin_install_python(PROGRAMS
-  scripts/cv_bridge_test.py
+  scripts/cv_bridge_test.py scripts/face_detector.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 

robot_vision/scripts/cv_bridge_test.py

@@ -46,5 +46,7 @@ def main():
     
     rospy.spin()
 
+    cv2.destroyAllWindows()
+
 if __name__ == "__main__":
     main()

robot_vision/scripts/face_detector.py

@@ -0,0 +1,32 @@
+#! /usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+import rospy
+import cv2
+import numpy as np
+from functools import partial
+from cv_bridge import CvBridge, CvBridgeError
+from sensor_msgs.msg import Image, RegionOfInterest
+
+
+def image_cb(msg, cv_bridge, image_pub):
+    pass
+    
+def main():
+    rospy.init_node("face_detector")
+    rospy.loginfo("starting face_detector node")
+
+    bridge = CvBridge()
+    image_pub = rospy.Publisher("/cv_bridge_image", Image, queue_size=1)
+    
+    bind_image_cb = partial(image_cb, cv_bridge=bridge, image_pub=image_pub)
+
+    rospy.Subscriber("/usb_cam/image_raw", Image, bind_image_cb)
+
+    
+    rospy.spin()
+
+    cv2.destroyAllWindows()
+
+if __name__ == "__main__":
+    main()