add iturtle_facedetect and iturtle_omxplayer

tutorials/iturtle_facedetect/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(iturtle_facedetect)
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+  rospy
+  std_msgs
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+CATKIN_DEPENDS message_runtime rospy std_msgs
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+catkin_install_python(PROGRAMS
+  src/facedetect.py
+  src/facedetect_listener.py
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(FILES
+  launch/facedetect.launch
+  src/haarcascade_frontalface_alt.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+

tutorials/iturtle_facedetect/README.md

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+# iturtle_facedetect
+
+Simple face detection ROS project based on OpenCV.
+
+## build
+
+```
+$ cd catkin_ws
+$ mkdir -p src
+$ git clone https://github.com/oroca/iTurtle.git
+$ cp -r iTurtle/tutorials/iturtle_iturtle_facedetect  src/
+$ catkin_make
+$ cakkin_make install
+```
+
+## launch
+
+```
+$ source install/setup.bash
+$ roscore
+```
+
+facedetect/facedetect listener node
+```
+$ roslaunch iturtle_facedetect facedetect.launch
+```

tutorials/iturtle_facedetect/launch/facedetect.launch

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+<launch>
+  <node name="facedetect" pkg="iturtle_facedetect" type="facedetect.py" output="screen"/>
+  <node name="facedetect_listener" pkg="iturtle_facedetect" type="facedetect_listener.py" output="screen">
+    <param name="hello" value="hello.m4a" />
+  </node>
+</launch>

tutorials/iturtle_facedetect/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>iturtle_facedetect</name>
+  <version>0.1.0</version>
+  <description>The facedetect package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">Changju Lee</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>MIT</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/iturtle_facedetect</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+
+  <exec_depend>message_generation</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>rospy</exec_depend>  
+  <exec_depend>std_msgs</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

tutorials/iturtle_facedetect/src/facedetect.py

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+#!/usr/bin/env python
+# -*- encoding: UTF-8 -*-
+import rospy
+from std_msgs.msg import String
+from picamera.array import PiRGBArray
+from picamera import PiCamera
+import time
+import cv2
+import os
+
+
+def face_detect():
+    rospy.init_node('facedetect', anonymous=True)
+    rate = rospy.Rate(10) # 10hz
+
+    pub = rospy.Publisher('facedetect', String, queue_size=10)
+
+    # initialize the camera and grab a reference to the raw camera capture
+    camera = PiCamera()
+    camera.resolution = (640, 480)
+    camera.framerate = 32
+    rawCapture = PiRGBArray(camera, size=(640, 480))
+
+    # allow the camera to warmup
+    time.sleep(0.1)
+
+    model_path = os.path.join(os.path.dirname(__file__), 'haarcascade_frontalface_alt.xml')
+    face_cascade = cv2.CascadeClassifier(model_path)
+
+    # capture frames from the camera
+    t1 = rospy.get_time()
+    for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
+        t2 = rospy.get_time()
+        #print("captured: %d" % (t2-t1))
+        if rospy.is_shutdown():
+            break
+
+        # grab the raw NumPy array representing the image, then initialize the timestamp
+        # and occupied/unoccupied text
+        image = frame.array
+        gray = cv2.cvtColor(image,cv2.COLOR_BGR2GRAY)
+
+        scaleFactor = 1.3
+        minNeighbors = 5
+        flags = 0
+        minSize = (150,150)
+        maxSize = (0,0)
+        faces = face_cascade.detectMultiScale(gray, scaleFactor, minNeighbors, flags, minSize)
+        if faces is not None and len(faces) > 0:
+            t3 = rospy.get_time()
+            rospy.loginfo('face detected: %s, captured=%s, detected=%s, total=%s' % (str(faces), t2 - t1, t3 - t2, t3 - t1))
+            pub.publish(str(faces))
+
+        # for (x,y,w,h) in faces:
+        #     cv2.rectangle(image,(x,y),(x+w,y+h),(255,0,0),2)
+        # # show the frame
+        # cv2.imshow("Frame", image)
+
+        # clear the stream in preparation for the next frame
+        rawCapture.truncate(0)
+
+        rate.sleep()
+        t1 = rospy.get_time()
+
+
+if __name__ == '__main__':
+    try:
+        face_detect()
+    except rospy.ROSInterruptException:
+        pass
+

tutorials/iturtle_facedetect/src/facedetect_listener.py

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+#!/usr/bin/env python
+# -*- encoding: UTF-8 -*-
+import os
+import rospy
+from std_msgs.msg import String
+
+pub = None
+hello = None
+
+def facedetect_callback(data):
+    rospy.loginfo(rospy.get_caller_id() + ': face detect received: %s', data.data)
+    pub.publish(hello)
+
+
+def listener():
+    global pub
+    global hello
+
+    # In ROS, nodes are uniquely named. If two nodes with the same
+    # name are launched, the previous one is kicked off. The
+    # anonymous=True flag means that rospy will choose a unique
+    # name for our 'listener' node so that multiple listeners can
+    # run simultaneously.
+    rospy.init_node('facedetect_listener', anonymous=True)
+    pub = rospy.Publisher('/play_sound_file', String, queue_size=10)
+    hello = rospy.get_param('~hello', 'hello.m4a')
+    print('param: hello=%s' % hello)
+
+    rospy.Subscriber('/facedetect', String, facedetect_callback)
+    # spin() simply keeps python from exiting until this node is stopped
+    rospy.spin()
+
+if __name__ == '__main__':
+    listener()