def srvLoadCaliFile(self, params):
try:
# rector = ImageRector(size=(640,480),cali_file=params.data)
# self.camera.rector = rector
self.camera.loadCaliFile(params.data)
return SetStringResponse('加载成功')
except Exception as e:
return SetStringResponse('加载失败')
def cbInputChar(self,params):
data = params.data
if self.process and self.process.isalive():
self.process.sendline(data)
# self.process.send(data)
return SetStringResponse('输入完成')
else:
return SetStringResponse('程序未运行')
def cbRemoveFaceLabel(self, params):
if len(params.data) == 0:
return SetStringResponse("未提供要删除的标签")
try:
res = self.recognizer.remove_face_label(params.data)
return SetStringResponse(res)
except Exception as e:
print(e)
return SetStringResponse("删除失败")
def cbShutdownNode(self,params): rospy.loginfo(params) nodes = rosnode.get_node_names() if params.data in nodes: rosnode.kill_nodes([params.data]) time.sleep(0.5) return SetStringResponse(u'关闭中') else: return SetStringResponse(u'节点未启动')
def srv_delete_ns(self, params):
try:
data_dir = os.path.join(self.data_root, params.data)
if len(data_dir) > len(self.data_root):
os.system('rm -rf ' + data_dir)
return SetStringResponse("删除成功")
except Exception as e:
print(e)
return SetStringResponse("删除失败")
def srv_delete_cat(self, params):
if self.ns is None:
return SetStringResponse("请先设置训练名称")
try:
data_dir = os.path.join(self.data_root, self.ns, params.data)
if len(data_dir) > len(self.data_root):
os.system('rm -rf ' + data_dir)
return SetStringResponse("删除成功")
except Exception as e:
print(e)
return SetStringResponse("删除失败")
def srv_set_ns(self, params):
try:
data_dir = os.path.join(self.data_root, params.data)
if not os.path.exists(data_dir):
os.makedirs(data_dir)
self.ns = params.data
self.ic.ns = params.data
return SetStringResponse("设置成功")
except Exception as e:
print(e)
return SetStringResponse("设置失败")
def launchNode(self,node_name): if node_name not in available_nodes: return SetStringResponse(u'不支持该节点') index = available_nodes.index(node_name) try: os.system(launch_cmds2[index]) time.sleep(0.5) return SetStringResponse(u'启动中,请稍等') except Exception as e: rospy.loginfo(e) return SetStringResponse(u'启动出错')
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 srv_train_classifier(self, params):
try:
epochs = int(params.data)
if epochs <= 0:
return SetStringResponse('至少训练1次~')
data_dir = os.path.join(self.data_root, self.ns)
self.epochs = epochs
self.ic.ns = self.ns
self.ic.train(data_dir, epochs, self.pub_training_logs)
return SetStringResponse('训练完成，可以进行测试了')
except Exception as e:
print(e)
return SetStringResponse('训练失败')
def cbRunProcessBackground(self,params):
cmd = params.data
try:
process = pexpect.spawn(cmd)
process.logfile = sys.stdout
# self.subprocesses.append(process)
self.process = process
# while process.isalive() :
# time.sleep(1)
return SetStringResponse('执行中')
except Exception as e:
rospy.loginfo(e)
return SetStringResponse(e.message)
def srv_create_cat(self, params):
if self.ns == None:
return SetStringResponse("请先设置训练名称")
try:
data_dir = os.path.join(self.data_root, self.ns, params.data)
if os.path.exists(data_dir):
print('data_dir %s exists' % (data_dir))
return SetStringResponse("分类已存在")
else:
print('create data_dir %s' % (data_dir))
os.makedirs(data_dir)
return SetStringResponse("创建成功")
except Exception as e:
print(e)
return SetStringResponse("创建失败")
def cbLaunchNode(self,params): rospy.loginfo(params) nodes = rosnode.get_node_names() if params.data in nodes: return SetStringResponse(u'节点已启动') else: return self.launchNode(params.data)
def srv_set_ns(self, params):
try:
data_dir = os.path.join(self.ic.data_root, params.data)
model_path = os.path.join(data_dir, 'model.h5')
label_path = os.path.join(data_dir, 'labelmap.txt')
self.ic.ns = params.data
if not os.path.exists(data_dir):
os.makedirs(data_dir)
return SetStringResponse("已创建训练，继续添加分类和数据以训练模型")
if os.path.exists(model_path) and os.path.exists(label_path):
self.ic.load_label_name()
self.ic.load_model()
return SetStringResponse("已加载训练，并加载已训练的模型")
return SetStringResponse("已加载训练，添加分类和数据训练模型吧")
except Exception as e:
print(e)
return SetStringResponse("设置失败")
def cbTTSOffline(self, params):
data = params.data
try:
cmd = 'bash -c "cd %s && LD_LIBRARY_PATH=./ ./tts_offline %s && aplay ./tts_sample.wav"' % (
self.bin_dir, data)
print(cmd)
os.system(cmd)
except Exception as e:
print(e)
return SetStringResponse(data)
def srvCameraSaveFrame(self, params):
if self.ns is None:
return SetStringResponse("训练没有定义，创建或者选择一次训练")
try:
cat_name = params.data
directory = os.path.join(self.data_root, self.ns, cat_name)
file_name = '%d.jpg' % (len(os.listdir(directory)) + 1)
full_path = os.path.join(directory, file_name)
if self.cv_image is not None:
# cv_image = self.bridge.imgmsg_to_cv2(self.img_msg, desired_encoding="bgr8")
cv2.imwrite(full_path, self.cv_image) # not working
# print(self.cv_image)
# cv2.imencode('.jpg', self.cv_image)[1].tofile(full_path) # 正确方法
return SetStringResponse("保存至%s成功" % (full_path))
else:
return SetStringResponse("保存出错")
except Exception as e:
print(e)
return SetStringResponse("保存出错")
finally:
pass
def cbToggleHotwordDetect(self, params):
if params.data == 'open':
if self.detector._running:
return SetStringResponse('正在运行')
else:
self.hotwordDetect = True
while not self.detector._running:
time.sleep(0.03)
return SetStringResponse('已启动')
elif params.data == 'close':
if self.detector._running:
# self.detector.terminate()
self.hotwordDetect = False
while self.detector._running:
time.sleep(0.03)
return SetStringResponse('已停止')
else:
return SetStringResponse('没有运行')
else:
print(params.data)
return SetStringResponse(params.data)
def srvCameraSaveFrame(self, params):
if self.ic.ns is None:
return SetStringResponse("训练没有定义，创建或者选择一次训练")
try:
# res = self.get_frame(GetFrameRequest())
# self.image_msg = res.image
cat_name = params.data
directory = os.path.join(self.ic.data_root, self.ic.ns, cat_name)
file_name = '%d.jpg' % (len(os.listdir(directory)) + 1)
full_path = os.path.join(directory, file_name)
if self.image_msg is not None:
cv_image = self.getImage(self.image_msg)
xmin, ymin, xmax, ymax = self.getBox()
cv_image = cv_image[ymin:ymax, xmin:xmax]
cv2.imwrite(full_path, cv_image)
# print(cv_image)
return SetStringResponse("保存至%s成功" % (full_path))
else:
return SetStringResponse("图像信息为空")
except Exception as e:
print(e)
return SetStringResponse("保存出错")
finally:
pass