Feat/starter names

build/catkin_make.cache

@@ -1,2 +1,2 @@
 
--DCATKIN_DEVEL_PREFIX=/home/andremaurell/butia_ws/src/butia_vision/devel -DCMAKE_INSTALL_PREFIX=/home/andremaurell/butia_ws/src/butia_vision/install -G Unix Makefiles
+-DCATKIN_DEVEL_PREFIX=/home/butiabots/Workspace/butia_ws/src/butia_vision/devel -DCMAKE_INSTALL_PREFIX=/home/butiabots/Workspace/butia_ws/src/butia_vision/install -G Unix Makefiles

butia_recognition/config/face_rec.yaml

@@ -6,6 +6,10 @@ subscribers:
   exact_time: true
   slop: 0.5
 
+  # image_rgb: /camera/color/image_raw
+  # camera_info: /camera/color/camera_info
+  # image_depth: /camera/aligned_depth_to_color/image_raw
+
   image_rgb: /butia_vision/bvb/image_rgb
   camera_info: /butia_vision/bvb/camera_info
   image_depth: /butia_vision/bvb/image_depth

butia_recognition/config/yolov8_object_recognition.yaml

@@ -10,88 +10,87 @@ classes_by_category:
     Animals: ['bird', 'cat', 'dog', 'horse', 'sheep', 'cow', 'elephant', 'bear', 'zebra', 'giraffe', 'teddybear']
     Household: ['backpack', 'umbrella', 'handbag', 'tie', 'suitcase', 'vase', 'scissors', 'book', 'toothbrush']
 all_classes: 
-- 'person'
-- 'bicycle'
-- 'car'
-- 'motorcycle'
-- 'airplane'
-- 'bus'
-- 'train'
-- 'truck'
-- 'boat'
-- 'traffic light'
-- 'fire hydrant'
-- 'stop sign'
-- 'parking meter'
-- 'bench'
-- 'bird'
-- 'cat'
-- 'dog'
-- 'horse'
-- 'sheep'
-- 'cow'
-- 'elephant'
-- 'bear'
-- 'zebra'
-- 'giraffe'
-- 'backpack'
-- 'umbrella'
-- 'handbag'
-- 'tie'
-- 'suitcase'
-- 'frisbee'
-- 'skis'
-- 'snowboard'
-- 'sports ball'
-- 'kite'
-- 'baseball bat'
-- 'baseball glove'
-- 'skateboard'
-- 'surfboard'
-- 'tennis racket'
-- 'bottle'
-- 'wine glass'
-- 'cup'
-- 'fork'
-- 'knife'
-- 'spoon'
-- 'bowl'
-- 'banana'
-- 'apple'
-- 'sandwich'
-- 'orange'
-- 'broccoli'
-- 'carrot'
-- 'hot dog'
-- 'pizza'
-- 'donut'
-- 'cake'
-- 'chair'
-- 'couch'
-- 'potted plant'
-- 'bed'
-- 'dining table'
-- 'toilet'
-- 'tv'
-- 'laptop'
-- 'mouse'
-- 'remote'
-- 'keyboard'
-- 'cell phone'
-- 'microwave'
-- 'oven'
-- 'toaster'
-- 'sink'
-- 'refrigerator'
-- 'book'
-- 'clock'
-- 'vase'
-- 'scissors'
-- 'teddy bear'
-- 'hair drier'
-- 'toothbrush'
+    - 'person'
+    - 'bicycle'
+    - 'car'
+    - 'motorcycle'
+    - 'airplane'
+    - 'bus'
+    - 'train'
+    - 'truck'
+    - 'boat'
+    - 'traffic light'
+    - 'fire hydrant'
+    - 'stop sign'
+    - 'parking meter'
+    - 'bench'
+    - 'bird'
+    - 'cat'
+    - 'dog'
+    - 'horse'
+    - 'sheep'
+    - 'cow'
+    - 'elephant'
+    - 'bear'
+    - 'zebra'
+    - 'giraffe'
+    - 'backpack'
+    - 'umbrella'
+    - 'handbag'
+    - 'tie'
+    - 'suitcase'
+    - 'frisbee'
+    - 'skis'
+    - 'snowboard'
+    - 'sports ball'
+    - 'kite'
+    - 'baseball bat'
+    - 'baseball glove'
+    - 'skateboard'
+    - 'surfboard'
+    - 'tennis racket'
+    - 'bottle'
+    - 'wine glass'
+    - 'cup'
+    - 'fork'
+    - 'knife'
+    - 'spoon'
+    - 'bowl'
+    - 'banana'
+    - 'apple'
+    - 'sandwich'
+    - 'orange'
+    - 'broccoli'
+    - 'carrot'
+    - 'hot dog'
+    - 'pizza'
+    - 'donut'
+    - 'cake'
+    - 'chair'
+    - 'couch'
+    - 'potted plant'
+    - 'bed'
+    - 'dining table'
+    - 'toilet'
+    - 'tv'
+    - 'laptop'
+    - 'mouse'
+    - 'remote'
+    - 'keyboard'
+    - 'cell phone'
+    - 'microwave'
+    - 'oven'
+    - 'toaster'
+    - 'sink'
+    - 'refrigerator'
+    - 'book'
+    - 'clock'
+    - 'vase'
+    - 'scissors'
+    - 'teddy bear'
+    - 'hair drier'
+    - 'toothbrush'
 
-
 max_sizes:
     - [0.4, 2.5, 0.5]
 

butia_recognition/launch/face_rec.launch

@@ -2,11 +2,13 @@
   <arg name="machine" default="localhost"/>
   <arg name="use_machine" default="true"/>
   <arg name="output" default="screen"/>
+  <arg name="name_list" default="None"/>
 
   <machine name="localhost" address="localhost" if="$(arg use_machine)"/>
 
   <node pkg="butia_recognition" type="face_recog.py" output="$(arg output)" name="face_recognition_node" machine="$(arg machine)">
     <rosparam command="load" file="$(find butia_recognition)/config/face_rec.yaml"/>
+    <rosparam param="name_list" subst_value="True">$(arg name_list)</rosparam>
   </node>
 
 </launch>

butia_recognition/scripts/butia_recognition/face_recognition/face_recog.py

@@ -13,8 +13,9 @@
 import face_recognition
 import time
 import rospkg
-from collections import Counter
 import pickle
+import re
+import shutil
 
 from std_msgs.msg import Header
 from sensor_msgs.msg import Image
@@ -29,17 +30,41 @@ def __init__(self, state=True):
         dataset_dir = os.path.join(PACK_DIR, 'dataset')
         self.features_dir = os.path.join(dataset_dir, 'features')
         self.dataset_dir = os.path.join(dataset_dir, 'people/')
-        self.readParameters()
 
+        self.readParameters()
         self.initRosComm()
 
+        self.starting_names = re.sub(r'[^a-zA-Z ]', '', rospy.get_param('~name_list').lower()).split()
         known_faces_dict = self.loadVar('features')
-        self.know_faces = self.flatten(known_faces_dict)
+        self.current_names = [self.starting_names]
+        rospy.logwarn(self.starting_names)
+        if self.starting_names == ['all']:
+            self.know_faces = self.flatten(known_faces_dict)
+            rospy.logerr(self.know_faces)
+
+        elif self.starting_names != ['none']:
+            filtered_dict = {}
+            for name in known_faces_dict.keys():
+                for starting in self.starting_names:
+                    if name == starting:
+                        filtered_dict[name] = known_faces_dict[name]
+            if len(filtered_dict.keys())>0:
+                self.know_faces = self.flatten(filtered_dict)
+                rospy.logerr('tem lista')
+            else:
+                rospy.logerr('tem lista mas não tem o nome')
+                self.know_faces = self.flatten({})
+
+        else:
+            rospy.logerr('none')
+            self.know_faces = self.flatten({})
+
+        rospy.loginfo('foi 3')
 
     def initRosComm(self):
         self.debug_publisher = rospy.Publisher(self.debug_topic, Image, queue_size=self.debug_qs)
         self.face_recognition_publisher = rospy.Publisher(self.face_recognition_topic, Recognitions2D, queue_size=self.face_recognition_qs)
-        self.introduct_person_service = rospy.Service(self.introduct_person_servername, PeopleIntroducing, self.PeopleIntroducing) #possivelmente trocar self.encode_faces
+        self.introduct_person_service = rospy.Service(self.introduct_person_servername, PeopleIntroducing, self.PeopleIntroducing)
 
         super().initRosComm(callbacks_obj=self)
         rospy.loginfo('foi 2')
@@ -110,10 +135,24 @@ def encode_faces(self):
         self.saveVar(encoded_face, 'features')             
 
     def PeopleIntroducing(self, ros_srv):
-
         name = ros_srv.name
         num_images = ros_srv.num_images
         NAME_DIR = os.path.join(self.dataset_dir, name)
+        self.current_names.append(name)
+
+        if os.path.exists(NAME_DIR):
+            shutil.rmtree(NAME_DIR)
+        # elif name in self.current_names:
+        #     state = False
+        #     index = 2
+        #     while state == False:
+        #         if os.path.exists(NAME_DIR):
+        #             new_name = name + '_' + str(index)
+        #             NAME_DIR = os.path.join(self.dataset_dir, new_name)
+        #             index =+ 1
+        #         else:
+        #             state = True
+
         os.makedirs(NAME_DIR, exist_ok=True)
         os.makedirs(self.features_dir, exist_ok=True)
         image_type = '.jpg'
@@ -195,14 +234,12 @@ def callback(self, *args):
 
         face_rec.header = h
         face_rec = BaseRecognition.addSourceData2Recognitions2D(source_data, face_rec)
-
         #rospy.loginfo('Image ID: ' + str(img.header.seq))
 
         ros_img_small_frame = ros_numpy.numpify(img)
 
         current_faces = face_recognition.face_locations(ros_img_small_frame, model = 'yolov8')
         current_faces_encodings = face_recognition.face_encodings(ros_img_small_frame, current_faces)
-
         debug_img = copy(ros_img_small_frame)
         names = []
         name_distance=[]
@@ -218,7 +255,6 @@ def callback(self, *args):
                 if min_distance < thold:
                     name = (self.know_faces[0][min_distance_idx])
             description.label = name
-
             names.append(name)
 
             description_header = img.header