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 cbTextDetection(self, params):
image = toImage(self.image_msg)
img = image[self.roi[0][1]:self.roi[1][1],
self.roi[0][0]:self.roi[1][0]]
text = ''
try:
text = self.detect(img, params.data)
except Exception as e:
print(e)
return GetStringResponse(text)
def cbAddFaceLabel(self, params):
if len(params.data) == 0:
return SetStringResponse("添加失败,名称长度为0")
try:
cv_image = toImage(self.image_msg)
res = self.recognizer.add_face_label(cv_image,
params.data,
save=True)
return SetStringResponse(res)
except Exception as e:
print(e)
return SetStringResponse("添加失败")
def cbDetectFaceLocations(self, params):
# print(params)
# res = self.get_frame(GetFrameRequest())
# self.image_msg = res.image
image_msg = self.image_msg
if image_msg == None:
return GetFaceDetectionsResponse()
rect_image = toImage(image_msg)
faces = self.recognizer.detect(rect_image)
if self.visualization:
# self.pub_detections.publish(self.bridge.cv2_to_imgmsg(faces,"bgr8"))
self.pubImage(faces)
return self.toFaceDetectionMsg(self.recognizer.face_locations)
def cbGetApriltagDetections(self, params):
# res = self.get_frame(GetFrameRequest())
# res = self.get_frame(GetFrameRequest([320,240]))
# self.image_msg = res.image
# print(params)
image_msg = self.image_msg
if image_msg == None:
return GetApriltagDetectionsResponse()
rect_image = toImage(image_msg)
resized_image = cv2.resize(rect_image, (640, 480))
# image_gray = cv2.cvtColor(resized_image, cv2.COLOR_BGR2GRAY)
self.detector.detect(resized_image, label_tags=self.visualization)
if self.visualization:
resized_image = cv2.resize(resized_image, (480, 360))
self.pubImage(resized_image)
return self.toApriltagDetections()
def cbExecProc(self, params):
image = toImage(self.image_msg)
img = self.processor.process(image)
self.pubImage(img)
return GetStringResponse('执行成功')
def cbBarcodeScan(self, params):
image = toImage(self.image_msg)
barcodes = self.detect(image)
# print(barcodes)
self.pubImage(self.drawLabel(image, barcodes))
return self.toBarcodeDetection(barcodes)
def cbImg(self, image_msg):
self.image_msg = image_msg
return
cv_image = toImage(image_msg)
cv2.rectangle(cv_image, self.roi[0], self.roi[1], (10, 255, 0), 2)
self.pubImage(cv_image)