def cbDetectFaceLocations(self, params):
# print(params)
start = time.time()
# res = self.get_frame(GetFrameRequest())
# print("get_frame time: {} s".format(round((time.time() - start)*1000, 4)))
# image_msg = res.image
image_msg = self.image_msg
if image_msg == None:
return GetFaceDetectionsResponse()
rect_image = toImage(self.image_msg)
print("decode time: {} s".format(round((time.time() - start) * 1000,
4)))
boxes, labels, probs = self.detector.detect(rect_image)
print("detect time: {} s".format(round((time.time() - start) * 1000,
4)))
print(boxes, labels, probs)
if self.visualization:
faces = self.detector.drawBoxes(rect_image, boxes)
print("drawBoxes time: {} s".format(
round((time.time() - start) * 1000, 4)))
msg = toImageMsg(faces)
print("encode time: {} s".format(
round((time.time() - start) * 1000, 4)))
self.pub_detections.publish(msg)
# self.pub_detections.publish(self.bridge.cv2_to_imgmsg(faces,"bgr8"))
return self.toFaceDetectionMsg()
def pubImage(self, image):
msg = toImageMsg(image)
self.pub_detections.publish(msg)