def learn_person(self, name='operator'):
HEIGHT_TRESHOLD = 88
WIDTH_TRESHOLD = 88
try:
image = self.get_image()
except:
rospy.logerr("Cannot get image")
return False
raw_recognitions = self._get_faces(image).recognitions
recognitions = [
r for r in raw_recognitions
if r.roi.height > HEIGHT_TRESHOLD and r.roi.width > WIDTH_TRESHOLD
]
rospy.loginfo('found %d valid face(s)', len(recognitions))
if len(recognitions) != 1:
rospy.loginfo("Too many faces: {}".format(len(recognitions)))
return False
recognition = recognitions[0]
rospy.loginfo('annotating that face as %s', name)
try:
self._annotate_srv(
image=image,
annotations=[Annotation(label=name, roi=recognition.roi)])
except rospy.ServiceException as e:
rospy.logerr('annotate failed: {}'.format(e))
return False
return True
def learn_person(self, image, name='operator'):
# HEIGHT_TRESHOLD = 88
# WIDTH_TRESHOLD = 88
try:
recognitions = self._recognize_srv(image=image).recognitions
except rospy.ServiceException as e:
rospy.logerr('annotate failed: {}'.format(e))
return False
# raw_recognitions = self._recognize_srv(image=image).recognitions
# recognitions = [r for r in raw_recognitions if r.roi.height > HEIGHT_TRESHOLD and r.roi.width > WIDTH_TRESHOLD]
rospy.loginfo('found %d valid face(s)', len(recognitions))
if len(recognitions) != 1:
rospy.loginfo("Too many faces: {}".format(len(recognitions)))
# return False
if not recognitions:
return False
recognition = filter_on_area(recognitions)
rospy.loginfo(recognition)
rospy.loginfo('annotating that face as %s', name)
try:
self._annotate_srv(
image=image,
annotations=[Annotation(label=name, roi=recognition.roi)])
except rospy.ServiceException as e:
rospy.logerr('annotate failed: {}'.format(e))
return False
return True
def annotate_srv(self, roi_image):
"""
Call the selected Annotate.srv
:param roi_image: The full opencv image we want to annotate
"""
if roi_image is not None and self.label is not None and self._srv is not None:
height, width = roi_image.shape[:2]
try:
self._srv(image=self.bridge.cv2_to_imgmsg(roi_image, "bgr8"),
annotations=[
Annotation(label=self.label,
roi=RegionOfInterest(x_offset=0,
y_offset=0,
width=width,
height=height))
])
except Exception as e:
warning_dialog("Service Exception", str(e))
def learn_face(self, roi_image):
if self.label == "nobody":
return
self.tresh = 50
print("try to learn")
if roi_image is not None and self.an_srv is not None:
height = roi_image.height
width = roi_image.width
try:
self.an_srv(image=roi_image,
annotations=[
Annotation(label=self.label,
roi=RegionOfInterest(x_offset=0,
y_offset=0,
width=width,
height=height))
])
except Exception as e:
print(e)