rsbfacetracker¶

Function Description¶

A simple face tracker. In fact, it does only a greedy association of face detections to tracks. The association is done by spatial distance of face bounding boxes.

Usage¶

Prerequisities¶

• Face detection running.

Command-line Parameters¶

Defaults are shown bellow with each parameter.

• -h
  • Displays help.
• -i /nao/facedetection/0
  • Input RSB scope, expected message type is rst::vision::Faces.
• -o /nao/headpose
  • Output RSB scope, produced message type is rst::vision::HeadObjects.
• -q
  • Quiet mode (no console output).

Output Description¶

The resulting message contains one or more tracks. No message is sent when no tracks are active. There might be tracks that do not have associated face detection. Such tracks disappear from the results when there is no face associated to them for sufficiently long time. The track ID are not reused, each newly created track gets unique ID.

Only track_id field of HeadObject structure is filled. If there is a face detection associeated to the track, it's bounding box (field faces) is also filled in the HeadObject structure.