From 6dba6955c5f76ba61b9b9d565aae3b49b952aa4a Mon Sep 17 00:00:00 2001
From: Jared Swift <j.w.swift@outlook.com>
Date: Thu, 1 Feb 2024 16:52:51 +0000
Subject: [PATCH] feat: learn face service.

---
 .../vision/lasr_vision_deepface/nodes/service | 20 +++++++++++++++++--
 common/vision/lasr_vision_msgs/CMakeLists.txt |  1 +
 .../vision/lasr_vision_msgs/srv/LearnFace.srv | 10 ++++++++++
 3 files changed, 29 insertions(+), 2 deletions(-)
 create mode 100644 common/vision/lasr_vision_msgs/srv/LearnFace.srv

diff --git a/common/vision/lasr_vision_deepface/nodes/service b/common/vision/lasr_vision_deepface/nodes/service
index 12149844c..f8126287f 100644
--- a/common/vision/lasr_vision_deepface/nodes/service
+++ b/common/vision/lasr_vision_deepface/nodes/service
@@ -4,7 +4,15 @@ import re
 import rospy
 import lasr_vision_deepface as face_recognition
 from sensor_msgs.msg import Image
-from lasr_vision_msgs.srv import Recognise, RecogniseRequest, RecogniseResponse
+from lasr_vision_msgs.srv import (
+    Recognise,
+    RecogniseRequest,
+    RecogniseResponse,
+    LearnFace,
+    LearnFaceRequest,
+    LearnFaceResponse,
+)
+
 
 rospy.init_node("recognise_service")
 
@@ -29,6 +37,14 @@ def detect(request: RecogniseRequest) -> RecogniseResponse:
     return face_recognition.detect(request, debug_publisher)
 
 
+def learn_face(request: LearnFaceRequest) -> LearnFaceResponse:
+    face_recognition.learn_face(
+        "/xtion/rgb/image_raw", request.dataset, request.name, request.n_images
+    )
+    return LearnFaceResponse()
+
+
 rospy.Service("/recognise", Recognise, detect)
-rospy.loginfo("Face Recognition service starter")
+rospy.Service("/learn_face", LearnFace, learn_face)
+rospy.loginfo("Face Recognition service started")
 rospy.spin()
diff --git a/common/vision/lasr_vision_msgs/CMakeLists.txt b/common/vision/lasr_vision_msgs/CMakeLists.txt
index 0f781a520..f5a0101e8 100644
--- a/common/vision/lasr_vision_msgs/CMakeLists.txt
+++ b/common/vision/lasr_vision_msgs/CMakeLists.txt
@@ -60,6 +60,7 @@ add_service_files(
   BodyPixDetection.srv
   TorchFaceFeatureDetection.srv
   Recognise.srv
+  LearnFace.srv
 )
 
 ## Generate actions in the 'action' folder
diff --git a/common/vision/lasr_vision_msgs/srv/LearnFace.srv b/common/vision/lasr_vision_msgs/srv/LearnFace.srv
new file mode 100644
index 000000000..5376e53d5
--- /dev/null
+++ b/common/vision/lasr_vision_msgs/srv/LearnFace.srv
@@ -0,0 +1,10 @@
+# Name to associate
+string name
+
+# Dataset to add face to
+string dataset
+
+# Number of images to take
+int32 n_images
+
+---