class FaceRecog:
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber('/camera/face_recognition', faces_ids, self.face_cb)
def face_cb(self, data):
for fc in data.faces:
self.atomo.face_recognition(fc.id, fc.name);
class FaceRecog:
def __init__(self):
self.atomo = AtomicMsgs()
rospy.Subscriber('/camera/face_recognition', faces_ids, self.face_cb)
def face_cb(self, data):
for fc in data.faces:
self.atomo.face_recognition(fc.id, fc.name)
class FaceTrack:
# Control flags. Ideally, FaceTrack should publish targets using
# ros_commo EvaControl class.
C_EYES = 16
C_FACE = 32
# Face tracking will be disabled if neither of these flags are set.
# (this allows for a manual over-ride of face-tracking by other
# control processes.)
C_FACE_TRACKING = C_FACE | C_EYES
def __init__(self):
# The OpenCog API. This is used to send face data to OpenCog.
self.atomo = AtomicMsgs()
# List of currently visible faces
self.visible_faces = []
# Subscribed pi_vision topics and events
self.TOPIC_FACE_EVENT = "/camera/face_event"
self.EVENT_NEW_FACE = "new_face"
self.EVENT_LOST_FACE = "lost_face"
self.EVENT_RECOGNIZED_FACE = "recognized_face"
# Overrides current face being tracked by WebUI
self.EVENT_TRACK_FACE = "track_face"
self.TOPIC_FACE_LOCATIONS = "/camera/face_locations"
# Face appearance/disappearance from pi_vision
rospy.Subscriber(self.TOPIC_FACE_EVENT, FaceEvent, self.face_event_cb)
# Face location information from pi_vision
rospy.Subscriber(self.TOPIC_FACE_LOCATIONS, Faces, self.face_loc_cb)
rospy.Subscriber("/behavior_control", Int32, self.behavior_control_cb)
# Control Eyes and face by default
self.control_mode = 255
# ----------------------------------------------------------
# Start tracking a face
def add_face(self, faceid):
if faceid in self.visible_faces:
return
self.visible_faces.append(faceid)
logger.info("New face added to visibile faces: " +
str(self.visible_faces))
self.atomo.add_face_to_atomspace(faceid)
# Stop tracking a face
def remove_face(self, faceid):
self.atomo.remove_face_from_atomspace(faceid)
if faceid in self.visible_faces:
self.visible_faces.remove(faceid)
logger.info("Lost face; visibile faces now: " + str(self.visible_faces))
# Force the robot to turn its attention to the given
# face (to interact with, talk with) that face.
def track_face(self, faceid):
if faceid in self.visible_faces:
logger.info("Face requested interaction: " + str(faceid))
self.atomo.add_tracked_face_to_atomspace(faceid)
# ----------------------------------------------------------
# pi_vision ROS callbacks
# pi_vision ROS callback, called when a new face is detected,
# or a face is lost.
def face_event_cb(self, data):
if not self.control_mode & self.C_FACE_TRACKING:
return
if data.face_event == self.EVENT_NEW_FACE:
self.add_face(data.face_id)
elif data.face_event == self.EVENT_LOST_FACE:
self.remove_face(data.face_id)
elif data.face_event == self.EVENT_TRACK_FACE:
self.track_face(data.face_id)
elif data.face_event == self.EVENT_RECOGNIZED_FACE:
self.atomo.face_recognition(data.face_id, data.recognized_id)
# pi_vision ROS callback, called when pi_vision has new face
# location data for us. This happens frequently (about 10x/second)
def face_loc_cb(self, data):
if not self.control_mode & self.C_FACE_TRACKING:
return
for face in data.faces:
# Update location of a face. The location is stored in the
# OpenCog space server (octomap).
if face.id in self.visible_faces:
self.atomo.update_face_octomap(face.id,
face.point.x, face.point.y, face.point.z)
# Enable/disable Opencog face-tracking. This is driven by the
# master control GUI.
def behavior_control_cb(self, data):
# Is facetracking currently enabled?
facetracking = self.control_mode & self.C_FACE_TRACKING
self.control_mode = data.data
print("New Control mode %i" % self.control_mode )
# If face-tracking was enabled, and is now disabled ...
if facetracking > 0 and self.control_mode & self.C_FACE_TRACKING == 0:
self.atomo.update_ft_state_to_atomspace(False)
# Need to clear faces:
for face in self.visible_faces[:]:
self.remove_face(face)
elif self.control_mode & self.C_FACE_TRACKING > 0:
self.atomo.update_ft_state_to_atomspace(True)
class FaceTrack:
# Control flags. Ideally, FaceTrack should publish targets using
# ros_commo EvaControl class.
C_EYES = 16
C_FACE = 32
# Face tracking will be disabled if neither of these flags are set.
# (this allows for a manual over-ride of face-tracking by other
# control processes.)
C_FACE_TRACKING = C_FACE | C_EYES
def __init__(self):
# The OpenCog API. This is used to send face data to OpenCog.
self.atomo = AtomicMsgs()
self.atomo.create_face_octomap()
# List of currently visible faces
self.visible_faces = []
# Subscribed pi_vision topics and events
self.TOPIC_FACE_EVENT = "/camera/face_event"
self.EVENT_NEW_FACE = "new_face"
self.EVENT_LOST_FACE = "lost_face"
self.EVENT_RECOGNIZED_FACE = "recognized_face"
# Overrides current face being tracked by WebUI
self.EVENT_TRACK_FACE = "track_face"
self.TOPIC_FACE_LOCATIONS = "/camera/face_locations"
# Face appearance/disappearance from pi_vision
rospy.Subscriber(self.TOPIC_FACE_EVENT, FaceEvent, self.face_event_cb)
# Face location information from pi_vision
rospy.Subscriber(self.TOPIC_FACE_LOCATIONS, Faces, self.face_loc_cb)
rospy.Subscriber("/behavior_control", Int32, self.behavior_control_cb)
# Control Eyes and face by default
self.control_mode = 255
# ----------------------------------------------------------
# Start tracking a face
def add_face(self, faceid):
if faceid in self.visible_faces:
return
self.visible_faces.append(faceid)
logger.info("New face added to visibile faces: " +
str(self.visible_faces))
self.atomo.add_face_to_atomspace(faceid)
# Stop tracking a face
def remove_face(self, faceid):
self.atomo.remove_face_from_atomspace(faceid)
if faceid in self.visible_faces:
self.visible_faces.remove(faceid)
logger.info("Lost face; visibile faces now: " + str(self.visible_faces))
# Force the robot to turn its attention to the given
# face (to interact with, talk with) that face.
def track_face(self, faceid):
if faceid in self.visible_faces:
logger.info("Face requested interaction: " + str(faceid))
self.atomo.add_tracked_face_to_atomspace(faceid)
# ----------------------------------------------------------
# pi_vision ROS callbacks
# pi_vision ROS callback, called when a new face is detected,
# or a face is lost. Also called for recognized faces.
#
# This callback handles recognized faces using a special message
# format, published on the `/camera/face_locations`. Note that
# there is also a different topic for recognized faces, called
# `/camera/face_recognition`. See the `face-recog.py` file for
# details. I am not sure what subsystem published which message
# type. XXX FIXME - figure out why there are two different
# face recognition subsystems, and standardize one which we
# should use.
def face_event_cb(self, data):
if not self.control_mode & self.C_FACE_TRACKING:
return
if data.face_event == self.EVENT_NEW_FACE:
self.add_face(data.face_id)
elif data.face_event == self.EVENT_LOST_FACE:
self.remove_face(data.face_id)
elif data.face_event == self.EVENT_TRACK_FACE:
self.track_face(data.face_id)
elif data.face_event == self.EVENT_RECOGNIZED_FACE:
self.atomo.face_recognition(data.face_id, data.recognized_id)
# pi_vision ROS callback, called when pi_vision has new face
# location data for us. This happens frequently (about 10x/second)
def face_loc_cb(self, data):
if not self.control_mode & self.C_FACE_TRACKING:
return
for face in data.faces:
# Update location of a face. The location is stored in the
# OpenCog space server (octomap).
if face.id in self.visible_faces:
self.atomo.update_face_octomap(face.id,
face.point.x, face.point.y, face.point.z)
# Enable/disable Opencog face-tracking. This is driven by the
# master control GUI. XXX FIXME -- why should this ever be disabled?
# OpenCog should always know about faces; perhaps it is congtrol of
# head and eye movements that should be disabled?
def behavior_control_cb(self, data):
# Is facetracking currently enabled?
facetracking = self.control_mode & self.C_FACE_TRACKING
self.control_mode = data.data
print("New Control mode %i" % self.control_mode )
# If face-tracking was enabled, and is now disabled ...
if facetracking > 0 and self.control_mode & self.C_FACE_TRACKING == 0:
self.atomo.update_ft_state_to_atomspace(False)
# Need to clear faces:
for face in self.visible_faces[:]:
self.remove_face(face)
elif self.control_mode & self.C_FACE_TRACKING > 0:
self.atomo.update_ft_state_to_atomspace(True)