def callback(data):
global previous_faces
current_faces = {};
for user in data.tf_bundles:
user_id = int(re.sub("user_","",user.user_id))
location = user.head.translation
current_faces[user_id] = location
new_face = findDiff(list(current_faces.keys()), list(previous_faces.keys()))
lost_face = findDiff(list(previous_faces.keys()), list(current_faces.keys()))
# Publishers
# if new face is found
if (new_face):
face_event_msg = FaceEvent()
face_event_msg.face_event = "new_face"
face_event_msg.face_id = new_face
event_publisher.publish(face_event_msg)
# if face is lost
if (lost_face):
face_event_msg = FaceEvent()
face_event_msg.face_event = "lost_face"
face_event_msg.face_id = lost_face
event_publisher.publish(face_event_msg)
# Face Location
faces_msg = Faces()
faces_msg.faces = []
for user, location in current_faces.items():
face_msg = Face()
face_msg.id = user
face_msg.point = location
face_msg.attention = 1
faces_msg.faces.append(face_msg)
face_publisher.publish(faces_msg)
previous_faces = current_faces
def callback(self,data, cmt, face,temp):
try:
cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError as e:
self.logger.error(e)
ttp = cmt
for val in temp.tracker_results:
ttp.tracker_results.append(val)
not_covered_faces,covered_faces = self.returnOverlapping(face,ttp)
for face,cmt in covered_faces:
tupl = []
for pts in face.feature_point.points:
x,y = pts.x, pts.y
tupl.append((x,y))
key = cmt.tracker_name.data
#TODO Can we Query state only:
query_only = rospy.get_param('query_only', True)
# print("Confidence: %f" % self.confidence)
if not query_only:
# This is to avoid adding faces sample size by saving while querying.
self.cmt_tracker_instances[key] = self.cmt_tracker_instances.get(key,{'count': 0, 'state':self.state['query_save']})
else:
self.cmt_tracker_instances[key] = self.cmt_tracker_instances.get(key, {'count': 0, 'state': self.state[
'query_only']})
#print(self.cmt_tracker_instances)
if self.cmt_tracker_instances[key]['state'] == self.state['query_save']:
self.queryAddResults(cv_image, tupl, key, self.confidence)
# print(self.face_recognizer.face_results_aggregator[cmt.tracker_name.data]['results'])
elif not query_only and (self.cmt_tracker_instances[key]['state'] == self.state['save_only'] or self.cmt_tracker_instances[key]['state'] == self.state['query_save']):
self.face_recognizer.save_faces(cv_image, tupl, key, str(self.cmt_tracker_instances[key]['count']))
elif self.cmt_tracker_instances[key]['state'] == self.state['query_only']:
self.queryAddResults(cv_image, tupl, key, self.confidence)
# print(self.face_recognizer.face_results_aggregator[cmt.tracker_name.data]['results'])
if key not in self.google_query:
self.face_recognizer.temp_save_faces(cv_image, tupl, key)
self.google_query.append(key)
# print "Image Saved"
elif self.cmt_tracker_instances[key]['state'] == self.state['ignore']:
pass
#Change state now;
if self.cmt_tracker_instances[key]['count'] == self.sample_size:
if self.cmt_tracker_instances[key]['state'] == self.state['query_save'] or self.cmt_tracker_instances[key]['state'] == self.state['query_only']:
max_index = max(self.face_recognizer.face_results_aggregator[cmt.tracker_name.data]['results'], key=self.face_recognizer.face_results_aggregator[cmt.tracker_name.data]['results'].get)
# print("openface output results: ")
# print(self.face_recognizer.face_results_aggregator[cmt.tracker_name.data]['results'])
if self.face_recognizer.face_results_aggregator[cmt.tracker_name.data]['results'][max_index] > self.num_positive:
try:
self.upt = rospy.ServiceProxy('recognition', TrackerNames)
indication = self.upt(names=str(max_index), index=int(cmt.tracker_name.data))
recognized_event = FaceEvent()
recognized_event.face_event = "recognized_face"
recognized_event.face_id = int(cmt.tracker_name.data)
recognized_event.recognized_id = str(max_index)
self.event_pub.publish(recognized_event)
if not indication:
self.logger.info("there was the same id in the id chamber.....")
self.cmt_tracker_instances[key]['state'] = self.state['ignore']
except rospy.ServiceException, e:
self.logger.error("Service call failed: %s" % e)
else:
recognized_event = FaceEvent()
recognized_event.face_event = "recognized_face"
recognized_event.face_id = int(cmt.tracker_name.data)
recognized_event.recognized_id = str(0)
self.event_pub.publish(recognized_event)
if not query_only:
self.cmt_tracker_instances[key]['state'] = self.state['save_only']
self.cmt_tracker_instances[key]['count'] = 0
else:
self.cmt_tracker_instances[key]['state'] = self.state['ignore']
self.cmt_tracker_instances[key]['count'] = 0
# Google Scrapper
if self.image_scraper_enable != 0:
try:
print "Upload Imgur and Query Google Scrapper: "
results = self.image_scraper.image_scraper("/tmp/" + key + ".png")
try:
self.gog = rospy.ServiceProxy('google_scraper', TrackerNames)
indication = self.gog(names=str(results), index=int(cmt.tracker_name.data))
if not indication:
self.logger.info("there was the same id in the id chamber.....")
except rospy.ServiceException, e:
self.logger.error("Service call failed: %s" % e)
print (results)
print "Finished Query of Google Images"
except Exception, e:
print e
