def face_recog_goal_cb(userdata, goal):
face_recog_goal = FaceRecognitionGoal()
#In Retrain we are just learning one face,order_id = 3 (re)train
face_recog_goal.order_id = 3
#For the moment we won't use this, but it's needed for face recognition.
face_recog_goal.order_argument = 'Referee'
print 'This is the name we are learning : ' + face_recog_goal.order_argument
return face_recog_goal
def recog(itemName, itemValue):
#How long to sleep
sleepTime = 4
#Start the iot_bridge. Starts roscore too
subprocess.Popen(["screen","-dmS", "roslaunchBridge", "roslaunch","iot_bridge","iot.launch"])
#Wait for the server to start
time.sleep(sleepTime)
#Start the camera
subprocess.Popen(["screen","-dmS", "roslaunchCamera", "roslaunch","/home/administrator/catkin_ws/start-cam.launch"])
#wait for the camera to start
time.sleep(sleepTime)
#Set the confidence_value for the face recognition server.No need to wait
subprocess.Popen(["rosparam" ,"set", "/face_recognition/confidence_value", "0.80"])
subprocess.Popen(["rosparam" ,"set", "/face_recognition/show_screen_flag", "false"])
#Start the Fserver
subprocess.Popen(["screen","-dmS", "rosrunServer", "rosrun","face_recognition","Fserver"])
#Wait for the server to start
time.sleep(sleepTime)
#Init the client node
rospy.init_node('recog_node', anonymous=True)
# Creates the SimpleActionClient, passing the type of the action
client = actionlib.SimpleActionClient('face_recognition', FaceRecognitionAction)
# Waits until the action server has started up and started
# listening for goals.
client.wait_for_server()
# Creates a goal to send to the server.
goal = FaceRecognitionGoal()
goal.order_id = 0
goal.order_argument = "none"
# Sends the goal to the action server.
client.send_goal(goal)
# Waits for the server to finish performing the action.
client.wait_for_result()
# Prints out the result of executing the action
print(client.get_result().names[0] + ":" + str(client.get_result().confidence[0]))
pub = rospy.Publisher('openhab_command', KeyValue, queue_size=10)
time.sleep(1)
pub.publish(itemName, itemValue)
time.sleep(sleepTime)
def set_name(self):
reco = actionlib.SimpleActionClient("face_recognition", FaceRecognitionAction)
rospy.loginfo("Connected to face recognition server")
reco.wait_for_server(rospy.Duration(10))
reco_goal = FaceRecognitionGoal()
reco_goal.order_id = 0
reco_goal.order_argument="none"
reco.send_goal(reco_goal)
rospy.loginfo("Waiting the result to face recognition server")
finished_within_time = reco.wait_for_result(rospy.Duration(4))
def get_name(self):
reco = actionlib.SimpleActionClient("face_recognition", FaceRecognitionAction)
rospy.loginfo("Connected to face recognition server")
reco.wait_for_server(rospy.Duration(10))
reco_goal = FaceRecognitionGoal()
reco_goal.order_id = 0
reco_goal.order_argument="none"
reco.send_goal(reco_goal)
rospy.loginfo("Waiting the result to face recognition server")
finished_within_time = reco.wait_for_result(rospy.Duration(2))
if not finished_within_time:
self.recognized_name = "unknown"
reco.cancel_goal()
#self.kernel.setPredicate('name',str(self.recognized_name))
#self.kernel.setPredicate('confidence','00')
return "unknown"
else:
state = reco.get_state()
result = reco.get_result()
name = result.names
confidence = "%.2f" %result.confidence
confidence = float(confidence)*100
confidence = int(confidence)
name = str(name).replace("[","").replace("]","").replace("'","").capitalize()
if confidence >= self.recog_name_certainty :
rospy.loginfo("Il s'agit de :" + str(name))
rospy.loginfo("Avec une reconnaissance de :" + str(confidence)+"%")
self.kernel.setPredicate('valConfidence',str(confidence),str(name))
self.kernel.setPredicate('name',str(name),str(name))
self.kernel.setPredicate('confidence','ok',str(name))
self.recognized_name = name
return str(name)
#!/usr/bin/env python
import sys
import rospy
import actionlib
from face_recognition.msg import FaceRecognitionAction, FaceRecognitionGoal
if __name__ == '__main__':
rospy.init_node('face_recognition_starter')
c = actionlib.ActionClient('face_recognition', FaceRecognitionAction)
c.wait_for_server()
g = FaceRecognitionGoal()
g.order_id = 1
g.order_argument = "none"
c.send_goal(g)
sys.exit(0)
#!/usr/bin/env python
import sys
import rospy
import actionlib
from face_recognition.msg import FaceRecognitionAction, FaceRecognitionGoal
if __name__ == '__main__':
rospy.init_node('face_recognition_starter')
c = actionlib.ActionClient('face_recognition', FaceRecognitionAction)
c.wait_for_server()
g = FaceRecognitionGoal()
g.order_id = 1
g.order_argument = "none"
c.send_goal(g)
sys.exit(0)
def learn_face_goal_cb(userdata, old_goal):
faceGoal = FaceRecognitionGoal()
faceGoal.order_id = 3 # (re)train
faceGoal.order_argument = userdata.in_person_name
return faceGoal
