class Guest_Recognition():
def __init__(self):
rospy.init_node('whereisthis_image')
# rospy.on_shutdown(self.cleanup)
self.rate = rospy.Rate(1) # no use
APP_ID = '18721308'
API_KEY = 'lNQGdBNazTPv8LpSP4x0GQlI'
SECRET_KEY = 'nW8grONY777n4I2KvpOVuKGDNiY03omI'
self.client_face = AipFace(APP_ID, API_KEY, SECRET_KEY)
self.bridge = CvBridge()
self.image_type = "BASE64"
self.filepath = "/home/lurejewel/catkin_ws/src/Whereisthis/whereisthis_image/pictures/image.jpg"
self.nowtask = 0
self.guest_list = ['0', '1', '2', '3']
self.groupIdList = 'whereisthis_group'
self.g1 = user()
self.g1.user_id = '1'
self.g1.facenum = 0
self.g2 = user()
self.g2.user_id = '2'
self.g2.facenum = 0
self.g3 = user()
self.g3.user_id = '3'
self.g3.facenum = 0
self.new = [0, 0, 0, 0]
self.old = [0, 0, 0, 0]
self.options_face = {}
self.options_face["face_field"] = "age,gender"
self.options_face["max_face_num"] = 3
self.options_face["face_type"] = "LIVE"
# 如果人脸库之前有人脸建议先清掉数据,没有就忽略
self.clear_data(flag=True)
#发布器
self.guest = rospy.Publisher('/image/findperson', Int8, queue_size=1)
#订阅器
# rospy.Subscriber("/camera/rgb/image_raw", Image, self.imgCallback, queue_size = 1)
rospy.Subscriber("/image_rate_transfer/image_raw",
Image,
self.imgCallback,
queue_size=1)
rospy.Subscriber('/whereisthis_control', whereisthis,
self.controlCallback)
def clear_data(self, flag):
rospy.loginfo('deleting data from cloud...')
# groupid: self.goupIdList userid: '1' or '2' or '3'
self.client_face.deleteUser(self.groupIdList, '1')
self.client_face.deleteUser(self.groupIdList, '2')
self.client_face.deleteUser(self.groupIdList, '3')
rospy.loginfo('complete.')
def controlCallback(self, msg):
if msg.FinishState == False:
self.nowtask = msg.NowTask
def imgCallback(self, image_msg):
t = whereisthis()
if self.nowtask == t.GoalDescription:
rospy.loginfo('imgCallback working...')
try:
cv_image = self.bridge.imgmsg_to_cv2(image_msg, "bgr8")
except CvBridgeError as e:
print(e)
self.add_user(self.filepath, cv_image)
# 打开文件
def fileopen(self, filepath):
with open(filepath, 'rb') as fp:
imgjson = base64.b64encode(fp.read())
data = str(imgjson).encode('utf-8')
return data
# 判断人脸已知
def judger(self, result):
if result['error_code'] == 0:
result_sc = result['result']['user_list'][0]['score']
# print(result_sc,type(result_sc))
if result_sc > 80:
return result['result']['user_list'][0]['user_id']
# return True
else:
return 0
else:
return 0
# 人脸库搜索 groupIdList="用户组名称"
def face_search(self, filepath, groupid='whereisthis_group'):
image = self.fileopen(filepath)
imageType = "BASE64"
detect = self.client_face.detect(image, self.image_type,
self.options_face)
if detect:
result = self.client_face.search(image, imageType, groupid)
# print(result) # 打印出所有信息
return result
else:
return None
# return self.judger(result)
def face_add(self, filepath, image_msg, groupid, userid): # 人脸库增加 地址 组 用户
image = self.fileopen(filepath)
imageType = "BASE64"
result = self.client_face.addUser(image, imageType, groupid, userid)
if result['error_code'] == 0:
print("增加人脸成功")
else:
print("增加人脸失败")
# print(result)
def get_user_facenum(self, userid):
if userid == '1':
return self.g1
elif userid == '2':
return self.g2
elif userid == '3':
return self.g3
else:
rospy.loginfo('there is no user id that matches.')
# TODO: return what
def add_user(self, file_name, image_msg):
cv2.imwrite(file_name, image_msg)
search_result = self.face_search(file_name, 'whereisthis_group') #id
curusr = user()
# 没人脸
if search_result == None:
return
# 加入新人脸
if search_result['error_code'] == 222207:
userid = '1'
self.g1.facenum += 1
curusr = self.g1
which = self.guest_list.index(userid)
t = Int8()
t.data = which
self.guest.publish(t)
rospy.loginfo('this is a new face: 222207')
elif search_result['error_code'] == 0:
if search_result['result']['user_list'][0]['score'] < 80:
# ---------------------------------------
num = len(search_result['result']['user_list'][0]['user_id'])
if num == 0:
userid = '1'
self.g1.facenum += 1
curusr = self.g1
elif num == 1:
userid = '2'
self.g2.facenum += 1
curusr = self.g2
elif num == 2:
userid = '3'
self.g3.facenum += 1
curusr = self.g3
else:
rospy.loginfo('wrong with num')
# TODO: what's next?
# publish guest id
which = self.guest_list.index(userid)
t = Int8()
t.data = which
self.guest.publish(t)
rospy.loginfo('this is a new face: 0')
# 旧人脸
else:
userid = search_result['result']['user_list'][0]['user_id']
curusr = self.get_user_facenum(userid)
which = self.guest_list.index(userid)
t = Int8()
t.data = which
self.guest.publish(t)
rospy.loginfo('this is an old face.')
# 加入人脸张数信息 未达到上限20则持续添加，否则不作处理
if curusr.facenum < 20 and curusr.user_id:
self.face_add(file_name, image_msg, 'whereisthis_group',
curusr.user_id)
os.system('rosnode kill /whereisthis_image')
# print(curusr.user_id , curusr.facenum)
else:
print('warning: no face detected. will keep detecting.')
print('--------------------------')
from aip import AipFace
import base64
APP_ID = '15926606'
API_KEY = 'IDpHxZLsVhUtv6XErETilME5'
SECRET_KEY = 'kPf8gtTfmkzLDArHmkRs48R4bacAURbY'
client = AipFace(APP_ID, API_KEY, SECRET_KEY)
for i in range(1,10): #range表示每次循环i从1到10，这里代表上传10个用户
filePath ="user"+ "%04d" % i +".jpg"
with open(filePath,"rb") as f:
base64_data = base64.b64encode(f.read())
image = str(base64_data,'utf-8')
imageType = "BASE64"
groupId = "student"
userId = "user"+ "%04d" % i
print(userId)
client.addUser(image, imageType, groupId, userId);
pass
