feat: add debugging of cropped face

LASR-at-Home · Feb 9, 2024 · a4dfcec · a4dfcec
1 parent 5f3ab4b
commit a4dfcec
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Showing 2 changed files with 15 additions and 1 deletion.
diff --git a/common/vision/lasr_vision_deepface/nodes/service b/common/vision/lasr_vision_deepface/nodes/service
@@ -26,6 +26,9 @@ if DEBUG:
     learn_face_debug_publisher = rospy.Publisher(
         "/learn_face/debug", Image, queue_size=1
     )
+    cropped_face_publisher = rospy.Publisher(
+        "/learn_face/debug/cropped_query_face", Image, queue_size=1
+    )
 
 
 def detect(request: RecogniseRequest) -> RecogniseResponse:
@@ -37,6 +40,7 @@ def detect(request: RecogniseRequest) -> RecogniseResponse:
             similar_face_debug_publisher = recognise_debug_publishers[request.dataset][
                 1
             ]
+            cropped_face_publisher = recognise_debug_publisher[request.dataset][2]
         else:
             topic_name = re.sub(r"[\W_]+", "", request.dataset)
             debug_publisher = rospy.Publisher(
@@ -45,12 +49,16 @@ def detect(request: RecogniseRequest) -> RecogniseResponse:
             similar_face_debug_publisher = rospy.Publisher(
                 f"/recognise/debug/{topic_name}/similar_face", Image, queue_size=1
             )
+            cropped_face_publisher = rospy.Publisher(
+                "/learn_face/debug/cropped_query_face", Image, queue_size=1
+            )
             recognise_debug_publishers[request.dataset] = (
                 debug_publisher,
                 similar_face_debug_publisher,
+                cropped_face_publisher,
             )
     return face_recognition.detect(
-        request, debug_publisher, similar_face_debug_publisher
+        request, debug_publisher, similar_face_debug_publisher, cropped_face_publisher
     )
 
 

diff --git a/common/vision/lasr_vision_deepface/src/lasr_vision_deepface/deepface.py b/common/vision/lasr_vision_deepface/src/lasr_vision_deepface/deepface.py
@@ -116,6 +116,7 @@ def detect(
     request: RecogniseRequest,
     debug_publisher: rospy.Publisher | None,
     debug_inference_pub: rospy.Publisher | None,
+    cropped_detect_pub: rospy.Publisher | None,
 ) -> RecogniseResponse:
     # Decode the image
     rospy.loginfo("Decoding")
@@ -152,6 +153,11 @@ def detect(
         detection.confidence = 1.0 - row["distance"][0]
         response.detections.append(detection)
 
+        cropped_image = cv_im[:][y : y + h, x : x + w]
+
+        if cropped_detect_pub is not None:
+            cropped_detect_pub.publish(cv2_img.cv2_img_to_msg(cropped_image))
+
         # Draw bounding boxes and labels for debugging
         cv2.rectangle(cv_im, (x, y), (x + w, y + h), (0, 0, 255), 2)
         cv2.putText(