face_recognition_trainer.py
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1 #! /usr/bin/env python
2 # Software License Agreement (BSD License)
3 #
4 # Copyright (c) 2017, Yuki Furuta.
5 # All rights reserved.
6 #
7 # Redistribution and use in source and binary forms, with or without
8 # modification, are permitted provided that the following conditions
9 # are met:
10 #
11 # * Redistributions of source code must retain the above copyright
12 # notice, this list of conditions and the following disclaimer.
13 # * Redistributions in binary form must reproduce the above
14 # copyright notice, this list of conditions and the following
15 # disclaimer in the documentation and/or other materials provided
16 # with the distribution.
17 # * Neither the name of Kei Okada nor the names of its
18 # contributors may be used to endorse or promote products derived
19 # from this software without specific prior written permission.
20 #
21 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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24 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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27 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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29 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 # POSSIBILITY OF SUCH DAMAGE.
33 
34 
35 from __future__ import print_function
36 
37 try:
38  input = raw_input
39 except:
40  pass
41 
42 import rospy
43 import message_filters
44 from sensor_msgs.msg import Image
45 from opencv_apps.msg import FaceArrayStamped
46 from opencv_apps.srv import FaceRecognitionTrain, FaceRecognitionTrainRequest
47 
48 class FaceRecognitionTrainer(object):
49  def __init__(self):
50  self.queue_size = rospy.get_param("~queue_size", 100)
51 
52  self.img_sub = message_filters.Subscriber("image", Image)
53  self.face_sub = message_filters.Subscriber("faces", FaceArrayStamped)
54 
55  self.req = FaceRecognitionTrainRequest()
56  self.label = ""
57  self.ok = False
58 
60  self.queue_size)
61  self.sync.registerCallback(self.callback)
62  def callback(self, img, faces):
63  if len(faces.faces) <= 0:
64  return
65  if self.ok:
66  faces.faces.sort(key=lambda f: f.face.width * f.face.height)
67  self.req.images.append(img)
68  self.req.rects.append(faces.faces[0].face)
69  self.req.labels.append(self.label)
70  self.ok = False
71  def run(self):
72  rospy.wait_for_service("train")
73  train = rospy.ServiceProxy("train", FaceRecognitionTrain)
74  self.label = input("Please input your name and press Enter: ")
75  while len(self.label) <= 0 or input("Your name is %s. Correct? [y/n]: " % self.label) not in ["", "y", "Y"]:
76  self.label = input("Please input your name and press Enter: ")
77 
78  input("Please stand at the center of the camera and press Enter: ")
79  while True:
80  self.ok = True
81  while self.ok:
82  print("taking picture...")
83  rospy.sleep(1)
84  if input("One more picture? [y/n]: ") not in ["", "y", "Y"]:
85  break
86  print("sending to trainer...")
87 
88  res = train(self.req)
89  if res.ok:
90  print("OK. Trained successfully!")
91  else:
92  print("NG. Error: %s" % res.error)
93 
94 if __name__ == '__main__':
95  rospy.init_node("face_recognition_trainer")
97  t.run()


opencv_apps
Author(s): Kei Okada
autogenerated on Wed Apr 24 2019 03:00:17