Head detection using haar detector on depth image

This package has been tested using:

• ROS Indigo
• Ubuntu 14.04
• Kinect v1

The purpose of this package is to detect head in depth image using haar detector

To use this package, clone the repository to your disc and build it:

$ cd catkin_ws/src 
$ git clone https://github.com/JaouadROS/head_depth
$ cd ..
$ catkin_make
$ source devel/setup.bash

Run head_depth launch file

$ roslaunch head_depth head_depth.launch

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.20

NODES
  /
     depth_subscription_throttle (head_depth/depth_subscription_throttle)
     head_detection (head_depth/head_detection)

The head detected is displayed in a depth image as a white rectangle.

The first node depth_subscription_throttle is publishing depth image in 8UC1 format in 15 fps. After that the node head_detection is subscribing to that topic and detecting heads (or anything similar, like a Vase with flowers! ) using haar detector.