merge: pull request LASR-at-Home#127 from jws-1/feat/face-recognition

lasr_vision_deepface package

common/vision/lasr_vision_deepface/.gitignore

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+# keep datasets folder
+datasets/**
+!datasets/.gitkeep

common/vision/lasr_vision_deepface/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(lasr_vision_deepface)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED catkin_virtualenv)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+catkin_python_setup()
+catkin_generate_virtualenv(
+  INPUT_REQUIREMENTS requirements.in
+  PYTHON_INTERPRETER python3.10
+)
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES lasr_vision_deepface
+#  CATKIN_DEPENDS rospy
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  #${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/lasr_vision_deepface.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/lasr_vision_deepface_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+catkin_install_python(PROGRAMS
+  scripts/create_dataset
+  examples/relay
+  examples/greet
+  nodes/service
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_lasr_vision_deepface.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

common/vision/lasr_vision_deepface/examples/greet

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+#!/usr/bin/env python3
+
+import sys
+import rospy
+from copy import deepcopy
+
+from sensor_msgs.msg import Image
+
+from lasr_vision_msgs.srv import Recognise, RecogniseRequest
+
+if len(sys.argv) < 3:
+    print('Usage: rosrun lase_recognition greet <source_topic> <dataset>')
+    exit()
+
+listen_topic = sys.argv[1]
+dataset = sys.argv[2]
+people_in_frame = []
+last_received_time = None
+
+
+def detect(image):
+    rospy.loginfo("Received image message")
+    global people_in_frame
+    people_in_frame = []
+    try:
+        detect_service = rospy.ServiceProxy('/recognise', Recognise)
+        req = RecogniseRequest()
+        req.image_raw = image
+        req.dataset = dataset
+        req.confidence = 0.5
+        resp = detect_service(req)
+        for detection in resp.detections:
+            people_in_frame.append(detection.name)
+        print(resp)
+    except rospy.ServiceException as e:
+        rospy.logerr("Service call failed: %s" % e)
+
+def greet():
+    print(f"Hello, {' '.join(people_in_frame)}")
+
+def image_callback(image):
+    global last_received_time
+    if last_received_time is None or rospy.Time.now() - last_received_time >= rospy.Duration(5.0):
+        prev_people_in_frame = deepcopy(people_in_frame)
+        detect(image)
+        if people_in_frame != prev_people_in_frame:
+            greet()
+        last_received_time = rospy.Time.now()
+
+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()

common/vision/lasr_vision_deepface/examples/relay

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+#!/usr/bin/env python3
+
+import sys
+import rospy
+import threading
+
+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>')
+    exit()
+
+listen_topic = sys.argv[1]
+dataset = sys.argv[2]
+
+processing = False
+
+def detect(image):
+    global processing
+    processing = True
+    rospy.loginfo("Received image message")
+
+    try:
+        detect_service = rospy.ServiceProxy('/recognise', Recognise)
+        req = RecogniseRequest()
+        req.image_raw = image
+        req.dataset = dataset
+        req.confidence = 0.5
+        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()

common/vision/lasr_vision_deepface/launch/camera.launch

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+<launch>
+    <description>Perform face recognition using the camera</description>
+    <usage doc="Run the demo"></usage>
+
+    <!-- arguments -->
+    <arg name="dataset" default="lab" doc="Dataset to use for the demo" />
+
+    <!-- yolo service -->
+    <include file="$(find lasr_vision_deepface)/launch/service.launch">
+        <arg name="debug" value="true" />
+    </include>
+
+    <!-- show debug topic -->
+    <node name="image_view" pkg="rqt_image_view" type="rqt_image_view" respawn="false" output="screen" args="/recognise/debug" />
+
+    <!-- start relay service -->
+    <node name="relay" pkg="lasr_vision_deepface" type="relay" respawn="false" output="screen" args="/camera/image_raw $(arg dataset)" />
+
+    <!-- launch video stream -->
+   <include file="$(find video_stream_opencv)/launch/camera.launch">
+        <arg name="visualize" value="true" />
+   </include>
+</launch>

common/vision/lasr_vision_deepface/launch/service.launch

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+<launch>
+    <description>Start the Face Recognition service</description>
+    <usage doc="Face Recognition service"></usage>
+    <usage doc="Enable debug topic">debug:=true</usage>
+
+    <arg name="debug" default="false" doc="Whether to publish plotted images to /recognise/debug" />
+
+    <node name="face_recognition_service" pkg="lasr_vision_deepface" type="service" output="screen">
+        <param name="debug" type="bool" value="$(arg debug)" />
+    </node>
+</launch>

common/vision/lasr_vision_deepface/nodes/service

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+#!/usr/bin/env python3
+
+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
+
+rospy.init_node("recognise_service")
+
+# Determine variables
+DEBUG = rospy.get_param("~debug", False)
+
+debug_publishers = {}
+if DEBUG:
+    debug_publisher = rospy.Publisher("/recognise/debug", Image, queue_size=1)
+
+
+def detect(request: RecogniseRequest) -> RecogniseResponse:
+    debug_publisher = None
+    if DEBUG:
+        if request.dataset in debug_publishers:
+            debug_publisher = debug_publishers[request.dataset]
+        else:
+            topic_name = re.sub(r"[\W_]+", "", request.dataset)
+            debug_publisher = rospy.Publisher(
+                f"/recognise/debug/{topic_name}", Image, queue_size=1
+            )
+    return face_recognition.detect(request, debug_publisher)
+
+
+rospy.Service("/recognise", Recognise, detect)
+rospy.loginfo("Face Recognition service starter")
+rospy.spin()