def callback_user_pos(self, msg):
"""Handler for UserPos message.
Head position
"""
self.userdata(msg.user_id, 'pos', msg)
username = self.userdata(msg.user_id, 'username')
# User recognition
#if not username and self.trigger(msg.user_id):
if not username:
head_rect = get_rect_from_point(
msg.head.position,
MAX_HEAD_WIDTH,
MAX_HEAD_HEIGHT
)
try:
start = now()
self.recognize_user(msg.user_id, head_rect)
rospy.loginfo("Time: %f", (now()-start).microseconds/1000000.0)
except rospy.ServiceException, e:
# If service goes off-line, shutdown and
# wait until it comes back on-line.
rospy.logwarn("Something went wrong with service call. Assuming it went offline.")
self.sub.unregister()
self.wait_for_service()
return
def take_picture(self, data):
rect = get_rect_from_point(
data.head.position,
MAX_HEAD_WIDTH,
MAX_HEAD_HEIGHT
)
self.args['pos'] = get_point(data.head.position)
response = self.get_rect(*rect)
(self.args['num'], self.args['file_path']) = self.save_img(
response,
'%s/img/%s' % (
self.package_path,
self.args['username']
),
'%s_%s_%s' % (
self.args['test'],
self.args['set'],
self.args['label']
)
)
self.database.append(self.args)
self._save_database()
if self.args.has_key('value'):
rospy.loginfo("Saved %s" % str(self.args['value']))
else:
rospy.loginfo("Saved")
def callback_add_object(self, request):
user_pos = self.userdata(request.user_id, 'pos')
success = False
if user_pos:
rect = get_rect_from_point(
user_pos.left_arm.hand.position,
MAX_HEAD_WIDTH,
MAX_HEAD_HEIGHT
)
try:
insert_topic = rospy.ServiceProxy('/recognize/objects/insert_topic', InsertTopic)
response = insert_topic(request.username, *rect)
success = response.success
except rospy.ServiceException, e:
rospy.logerr("Service call failed: %s" % e)
success = False
def callback_add_user(self, request):
"""
Callback to add user to face recognition database.
Keyword arguments:
request.user_id -- Id of the user to add
request.username -- Username or label for face.
"""
user_pos = self.userdata(request.user_id, 'pos')
success = False
if user_pos:
rect = get_rect_from_point(
user_pos.head.position,
MAX_HEAD_WIDTH,
MAX_HEAD_HEIGHT
)
try:
insert_topic = rospy.ServiceProxy('/recognize/users/insert_topic', InsertTopic)
response = insert_topic(request.username, *rect)
success = response.success
except rospy.ServiceException, e:
rospy.logerr("Service call failed: %s" % e)
success = False
