def run(self):
"""Publishing usersaid when face recognitionL is enabled """
# TODO: add tags, add other fields, take into account loaded grammar to put other text in the recognized sentence
while not rospy.is_shutdown():
if self.enabled:
self.recognized_face.header.stamp = rospy.Time.now()
self.recognized_face.header.frame_id = '/stereo_gazebo_right_camera_optical_frame'
if self.isData():
#New face
face = FaceDetection()
face.x = 262
face.y = 200
face.width = 61
face.height = 61
face.eyesLocated = True
face.leftEyeX = 307
face.leftEyeY = 215
face.rightEyeX = 276
face.rightEyeY = 217
face.position.x = -0.0874395146966
face.position.y = -0.0155512560159
face.position.z = 0.945071995258
face.name = "roger"
self.recognized_face.faces.append(face)
self.face_pub.publish(self.recognized_face)
rospy.sleep(3)
def face_cb(self, data):
faces = data
Face = FaceDetection()
per = person()
if faces.faces:
for Face in faces.faces:
per.targetId = 1
per.x = Face.position.z
per.y = -Face.position.x
per.status = 4
self.persons.peopleSet.append(per)
self.follow_person_pub.publish(self.persons)
def face_enrollment_stop_cb(self, req):
"""Callback of face service requests """
# rospy.loginfo("FACE: Disabling face enrollment" )
stop = StopEnrollmentResponse()
if self.name != "":
stop.enrollment_ok = True
stop.numFacesEnrolled = 1
stop.error_msg = ''
cara = FaceDetection()
cara.name = self.name
cara.confidence = self.minConfidence
self.recognized_face.faces.append(cara)
else:
stop.error_msg = "no name face"
stop.enrollment_ok = False
stop.numFacesEnrolled = 0
return stop
