face_recognition_ros

ROS2 package for using face_recognition.

Requirements

• ROS 2 (Tested on Humble, would work on any distributions with Python 3.3+ required by face_recognition)

Other dependencies are listed in package.xml and requirements.txt.

Usage

Setup

$ cd ~/ros2_ws/src
$ git clone https://github.com/mitukou1109/face_recognition_ros.git
$ cd face_recognition_ros
$ rosdep install -iyr --from-paths .
$ pip install -r requirements.txt
$ cd ~/ros2_ws
$ colcon build --symlink-install
$ source install/local_setup.bash

Face identification

Prepare an image containing a face to identify. Assuming you have your selfie in home directory:

$ cd ~/ros2_ws/src/face_recognition_ros
$ python register_known_face.py ~/your_name.jpg "Your name"   # You can specify the name to register, otherwise the file's name will be used
Registered Your name

You can test with the following commands if you have a webcam connected to your PC:

$ sudo apt install ros-humble-v4l2-camera
$ ros2 launch face_recogntion_ros demo.launch.py
...
[INFO] [1703600037.356322923] [face_identifier]: Registered known faces: ['Your name']
...

Face detection

TODO

Topics

face_identifier

Subscribed topics:

Name	Type	Description
/image_raw	sensor_msgs/Image	Input image

Published topics:

Name	Type	Description
~/detections	vision_msgs/Detection2DArray	Sequence of bounding box and name for each detected faces
~/result_image	sensor_msgs/Image	Input image with bounding boxes and names drawn

Parameters

face_identifier

Name	Type	Default value	Description
resize_height	int	320	Height to resize input image before encoding for making it faster