feat: face detection/recognition skills (LASR-at-Home#195)

* refactor: detect -> recognise * refactor: detect_face -> _extract_face. * WIP * fix: dumb bug. * refactor: remove erratic comment. * feat: DetectFaces and Recognise skills.
jws-1 · May 7, 2024 · 52dfe45 · 52dfe45
1 parent d8fbf4f
commit 52dfe45
Show file tree

Hide file tree

Showing 12 changed files with 278 additions and 90 deletions.
diff --git a/common/vision/lasr_vision_deepface/CMakeLists.txt b/common/vision/lasr_vision_deepface/CMakeLists.txt
@@ -19,7 +19,7 @@ find_package(catkin REQUIRED catkin_virtualenv)
 catkin_python_setup()
 catkin_generate_virtualenv(
   INPUT_REQUIREMENTS requirements.in
-  PYTHON_INTERPRETER python3.10
+  PYTHON_INTERPRETER python3.8
 )
 
 ################################################
@@ -161,7 +161,8 @@ include_directories(
 ## in contrast to setup.py, you can choose the destination
 catkin_install_python(PROGRAMS
   scripts/create_dataset
-  examples/relay
+  examples/relay_recognise
+  examples/relay_detect_faces
   examples/greet
   nodes/service
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

diff --git a/common/vision/lasr_vision_deepface/examples/relay_detect_faces b/common/vision/lasr_vision_deepface/examples/relay_detect_faces
@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+
+import sys
+import rospy
+import threading
+
+from sensor_msgs.msg import Image
+
+from lasr_vision_msgs.srv import DetectFaces, DetectFacesRequest
+
+if len(sys.argv) < 2:
+    print("Usage: rosrun lasr_vision_deepface relay <source_topic>")
+    exit()
+
+listen_topic = sys.argv[1]
+
+processing = False
+
+
+def detect(image):
+    global processing
+    processing = True
+    rospy.loginfo("Received image message")
+
+    try:
+        detect_service = rospy.ServiceProxy("/detect_faces", DetectFaces)
+        req = DetectFacesRequest()
+        req.image_raw = image
+        resp = detect_service(req)
+        print(resp)
+    except rospy.ServiceException as e:
+        rospy.logerr("Service call failed: %s" % e)
+    finally:
+        processing = False
+
+
+def image_callback(image):
+    global processing
+    if processing:
+        return
+
+    t = threading.Thread(target=detect, args=(image,))
+    t.start()
+
+
+def listener():
+    rospy.init_node("image_listener", anonymous=True)
+    rospy.wait_for_service("/recognise")
+    rospy.Subscriber(listen_topic, Image, image_callback)
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    listener()
diff --git a/...ision/lasr_vision_deepface/examples/relay → ..._vision_deepface/examples/relay_recognise b/...ision/lasr_vision_deepface/examples/relay → ..._vision_deepface/examples/relay_recognise
@@ -9,7 +9,7 @@ from sensor_msgs.msg import Image
 from lasr_vision_msgs.srv import Recognise, RecogniseRequest
 
 if len(sys.argv) < 3:
-    print("Usage: rosrun lase_recognition relay <source_topic> <dataset>")
+    print("Usage: rosrun lasr_vision_deepface relay <source_topic> <dataset>")
     exit()
 
 listen_topic = sys.argv[1]

diff --git a/common/vision/lasr_vision_deepface/nodes/service b/common/vision/lasr_vision_deepface/nodes/service
@@ -2,7 +2,7 @@
 
 import re
 import rospy
-import lasr_vision_deepface as face_recognition
+import lasr_vision_deepface.deepface as face_recognition
 from sensor_msgs.msg import Image
 from lasr_vision_msgs.srv import (
     Recognise,
@@ -11,6 +11,9 @@ from lasr_vision_msgs.srv import (
     LearnFace,
     LearnFaceRequest,
     LearnFaceResponse,
+    DetectFaces,
+    DetectFacesRequest,
+    DetectFacesResponse,
 )
 
 
@@ -21,6 +24,8 @@ DEBUG = rospy.get_param("~debug", False)
 
 recognise_debug_publishers = {}
 learn_face_debug_publishers = {}
+detect_faces_debug_publisher = None
+
 if DEBUG:
     recognise_debug_publisher = rospy.Publisher("/recognise/debug", Image, queue_size=1)
     learn_face_debug_publisher = rospy.Publisher(
@@ -29,19 +34,20 @@ if DEBUG:
     cropped_face_publisher = rospy.Publisher(
         "/learn_face/debug/cropped_query_face", Image, queue_size=1
     )
+    detect_faces_debug_publisher = rospy.Publisher(
+        "/detect_faces/debug", Image, queue_size=1
+    )
 
 
-def detect(request: RecogniseRequest) -> RecogniseResponse:
+def recognise(request: RecogniseRequest) -> RecogniseResponse:
     debug_publisher = None
     similar_face_debug_publisher = None
     cropped_face_publisher = None
     if DEBUG:
         if request.dataset in recognise_debug_publishers:
-            debug_publisher = recognise_debug_publishers[request.dataset][0]
-            similar_face_debug_publisher = recognise_debug_publishers[request.dataset][
-                1
-            ]
-            cropped_face_publisher = recognise_debug_publisher[request.dataset][2]
+            debug_publisher, similar_face_debug_publisher, cropped_face_publisher = (
+                recognise_debug_publishers[request.dataset]
+            )
         else:
             topic_name = re.sub(r"[\W_]+", "", request.dataset)
             debug_publisher = rospy.Publisher(
@@ -58,7 +64,7 @@ def detect(request: RecogniseRequest) -> RecogniseResponse:
                 similar_face_debug_publisher,
                 cropped_face_publisher,
             )
-    return face_recognition.detect(
+    return face_recognition.recognise(
         request, debug_publisher, similar_face_debug_publisher, cropped_face_publisher
     )
 
@@ -83,7 +89,12 @@ def learn_face(request: LearnFaceRequest) -> LearnFaceResponse:
     return LearnFaceResponse()
 
 
-rospy.Service("/recognise", Recognise, detect)
+def detect_faces(request: DetectFacesRequest) -> DetectFacesResponse:
+    return face_recognition.detect_faces(request, detect_faces_debug_publisher)
+
+
+rospy.Service("/recognise", Recognise, recognise)
 rospy.Service("/learn_face", LearnFace, learn_face)
+rospy.Service("/detect_faces", DetectFaces, detect_faces)
 rospy.loginfo("Face Recognition service started")
 rospy.spin()
diff --git a/common/vision/lasr_vision_deepface/requirements.in b/common/vision/lasr_vision_deepface/requirements.in
@@ -1,2 +1,3 @@
-deepface==0.0.83
+deepface==0.0.91
+tensorflow==2.9.0
 numpy>=1.2.1
diff --git a/common/vision/lasr_vision_deepface/requirements.txt b/common/vision/lasr_vision_deepface/requirements.txt
@@ -1,65 +1,68 @@
 absl-py==2.1.0            # via tensorboard, tensorflow
 astunparse==1.6.3         # via tensorflow
 beautifulsoup4==4.12.3    # via gdown
-blinker==1.7.0            # via flask
-cachetools==5.3.2         # via google-auth
-certifi==2023.11.17       # via requests
+blinker==1.8.1            # via flask
+cachetools==5.3.3         # via google-auth
+certifi==2024.2.2         # via requests
 charset-normalizer==3.3.2  # via requests
 click==8.1.7              # via flask
-deepface==0.0.83          # via -r requirements.in
-filelock==3.13.1          # via gdown
-fire==0.5.0               # via deepface
-flask==3.0.1              # via deepface
-flatbuffers==23.5.26      # via tensorflow
-gast==0.5.4               # via tensorflow
-gdown==5.0.1              # via deepface, retina-face
-google-auth==2.27.0       # via google-auth-oauthlib, tensorboard
-google-auth-oauthlib==1.2.0  # via tensorboard
+deepface==0.0.91          # via -r requirements.in
+filelock==3.14.0          # via gdown
+fire==0.6.0               # via deepface
+flask==3.0.3              # via deepface
+flatbuffers==1.12         # via tensorflow
+gast==0.4.0               # via tensorflow
+gdown==5.1.0              # via deepface, retina-face
+google-auth==2.29.0       # via google-auth-oauthlib, tensorboard
+google-auth-oauthlib==0.4.6  # via tensorboard
 google-pasta==0.2.0       # via tensorflow
-grpcio==1.60.0            # via tensorboard, tensorflow
-gunicorn==21.2.0          # via deepface
-h5py==3.10.0              # via tensorflow
-idna==3.6                 # via requests
-itsdangerous==2.1.2       # via flask
+grpcio==1.63.0            # via tensorboard, tensorflow
+gunicorn==22.0.0          # via deepface
+h5py==3.11.0              # via tensorflow
+idna==3.7                 # via requests
+importlib-metadata==7.1.0  # via flask, markdown
+itsdangerous==2.2.0       # via flask
 jinja2==3.1.3             # via flask
-keras==2.15.0             # via deepface, mtcnn, tensorflow
-libclang==16.0.6          # via tensorflow
-markdown==3.5.2           # via tensorboard
-markupsafe==2.1.4         # via jinja2, werkzeug
-ml-dtypes==0.2.0          # via tensorflow
+keras==2.9.0              # via deepface, mtcnn, tensorflow
+keras-preprocessing==1.1.2  # via tensorflow
+libclang==18.1.1          # via tensorflow
+markdown==3.6             # via tensorboard
+markupsafe==2.1.5         # via jinja2, werkzeug
 mtcnn==0.1.1              # via deepface
-numpy==1.26.3             # via -r requirements.in, deepface, h5py, ml-dtypes, opencv-python, opt-einsum, pandas, retina-face, tensorboard, tensorflow
+numpy==1.24.4             # via -r requirements.in, deepface, h5py, keras-preprocessing, opencv-python, opt-einsum, pandas, retina-face, tensorboard, tensorflow
 oauthlib==3.2.2           # via requests-oauthlib
 opencv-python==4.9.0.80   # via deepface, mtcnn, retina-face
 opt-einsum==3.3.0         # via tensorflow
-packaging==23.2           # via gunicorn, tensorflow
-pandas==2.2.0             # via deepface
-pillow==10.2.0            # via deepface, retina-face
-protobuf==4.23.4          # via tensorboard, tensorflow
-pyasn1==0.5.1             # via pyasn1-modules, rsa
-pyasn1-modules==0.3.0     # via google-auth
+packaging==24.0           # via gunicorn, tensorflow
+pandas==2.0.3             # via deepface
+pillow==10.3.0            # via deepface, retina-face
+protobuf==3.19.6          # via tensorboard, tensorflow
+pyasn1==0.6.0             # via pyasn1-modules, rsa
+pyasn1-modules==0.4.0     # via google-auth
 pysocks==1.7.1            # via requests
-python-dateutil==2.8.2    # via pandas
-pytz==2023.4              # via pandas
-requests[socks]==2.31.0   # via gdown, requests-oauthlib, tensorboard
-requests-oauthlib==1.3.1  # via google-auth-oauthlib
-retina-face==0.0.14       # via deepface
+python-dateutil==2.9.0.post0  # via pandas
+pytz==2024.1              # via pandas
+requests[socks]==2.31.0   # via deepface, gdown, requests-oauthlib, tensorboard
+requests-oauthlib==2.0.0  # via google-auth-oauthlib
+retina-face==0.0.17       # via deepface
 rsa==4.9                  # via google-auth
-six==1.16.0               # via astunparse, fire, google-pasta, python-dateutil, tensorboard, tensorflow
+six==1.16.0               # via astunparse, fire, google-pasta, keras-preprocessing, python-dateutil, tensorflow
 soupsieve==2.5            # via beautifulsoup4
-tensorboard==2.15.1       # via tensorflow
-tensorboard-data-server==0.7.2  # via tensorboard
-tensorflow==2.15.0.post1  # via deepface, retina-face
-tensorflow-estimator==2.15.0  # via tensorflow
-tensorflow-io-gcs-filesystem==0.35.0  # via tensorflow
+tensorboard==2.9.1        # via tensorflow
+tensorboard-data-server==0.6.1  # via tensorboard
+tensorboard-plugin-wit==1.8.1  # via tensorboard
+tensorflow==2.9.0         # via -r requirements.in, deepface, retina-face
+tensorflow-estimator==2.9.0  # via tensorflow
+tensorflow-io-gcs-filesystem==0.34.0  # via tensorflow
 termcolor==2.4.0          # via fire, tensorflow
-tqdm==4.66.1              # via deepface, gdown
-typing-extensions==4.9.0  # via tensorflow
-tzdata==2023.4            # via pandas
-urllib3==2.1.0            # via requests
-werkzeug==3.0.1           # via flask, tensorboard
-wheel==0.42.0             # via astunparse
-wrapt==1.14.1             # via tensorflow
+tqdm==4.66.4              # via deepface, gdown
+typing-extensions==4.11.0  # via tensorflow
+tzdata==2024.1            # via pandas
+urllib3==2.2.1            # via requests
+werkzeug==3.0.2           # via flask, tensorboard
+wheel==0.43.0             # via astunparse, tensorboard
+wrapt==1.16.0             # via tensorflow
+zipp==3.18.1              # via importlib-metadata
 
 # The following packages are considered to be unsafe in a requirements file:
 # setuptools