[face_recognition] add nodelet / script / message files for face recognition

CMakeLists.txt

@@ -1,7 +1,16 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(opencv_apps)
 
-find_package(catkin REQUIRED COMPONENTS cv_bridge dynamic_reconfigure message_generation image_transport nodelet roscpp)
+find_package(catkin REQUIRED COMPONENTS
+  cv_bridge
+  dynamic_reconfigure
+  image_transport
+  message_generation
+  nodelet
+  roscpp
+  sensor_msgs
+  std_msgs
+)
 
 find_package(OpenCV REQUIRED)
 message(STATUS "OpenCV Components: ${OpenCV_LIB_COMPONENTS}")
@@ -23,6 +32,7 @@ generate_dynamic_reconfigure_options(
   cfg/EdgeDetection.cfg cfg/HoughLines.cfg cfg/HoughCircles.cfg
   cfg/FindContours.cfg cfg/ConvexHull.cfg cfg/GeneralContours.cfg cfg/ContourMoments.cfg
   cfg/FaceDetection.cfg
+  cfg/FaceRecognition.cfg
   cfg/GoodfeatureTrack.cfg
   #
   cfg/CamShift.cfg
@@ -55,6 +65,7 @@ add_message_files(
    Face.msg
    FaceArray.msg
    FaceArrayStamped.msg
+   Label.msg
    Line.msg
    LineArray.msg
    LineArrayStamped.msg
@@ -73,10 +84,16 @@ add_message_files(
    ContourArrayStamped.msg
 )
 
+add_service_files(
+  FILES
+  FaceRecognitionTrain.srv
+)
+
 ## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
   std_msgs
+  sensor_msgs
 )
 
 catkin_package(CATKIN_DEPENDS std_msgs
@@ -238,6 +255,7 @@ opencv_apps_add_nodelet(camshift camshift/camshift src/nodelet/camshift_nodelet.
 # ./em.cpp
 # ./example_cmake/example.cpp
 opencv_apps_add_nodelet(face_detection face_detection/face_detection src/nodelet/face_detection_nodelet.cpp) # ./facedetect.cpp
+opencv_apps_add_nodelet(face_recognition face_recognition/face_recognition src/nodelet/face_recognition_nodelet.cpp)
 # ./facial_features.cpp
 opencv_apps_add_nodelet(fback_flow fback_flow/fback_flow src/nodelet/fback_flow_nodelet.cpp) # ./fback.cpp
 # ./ffilldemo.cpp
@@ -328,7 +346,7 @@ install(TARGETS ${_opencv_apps_nodelet_targets}
 install(FILES nodelet_plugins.xml
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
-install(DIRECTORY launch test
+install(DIRECTORY launch test scripts
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
         USE_SOURCE_PERMISSIONS)
 

cfg/FaceRecognition.cfg

@@ -0,0 +1,59 @@
+#! /usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2014, Kei Okada.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Kei Okada nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+
+PACKAGE='face_recognition'
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+methods = gen.enum([gen.const("eigen", str_t, "eigen", "eigen"),
+                    gen.const("fisher", str_t, "fisher", "fisher"),
+                    gen.const("LBPH", str_t, "LBPH", "LBPH")],
+                   "Method to recognize faces")
+
+#        variable  type  level  description  default  min  max
+gen.add("model_method", str_t, 0, "Method to recognize faces", "eigen", edit_method=methods)
+gen.add("use_saved_data", bool_t, 0, "Use saved data", True)
+gen.add("save_train_data", bool_t, 0, "Save train data", True)
+gen.add("data_dir", str_t, 0, "Save directory for train data", "~/.ros/opencv_apps/face_data")
+gen.add("face_padding", int_t, 0, "Padding on face", 0, -30, 30)
+gen.add("model_num_components", int_t, 0, "Number of components for face recognizer model", 0, 0, 100)
+gen.add("model_threshold", double_t, 0, "Threshold for face recognizer model", 8000.0, 0.0, 10000.0)
+gen.add("lbph_radius", int_t, 0, "Radius parameter used only for LBPH model", 1, 1, 10)
+gen.add("lbph_neighbors", int_t, 0, "Neighbors parameter used only for LBPH model", 8, 1, 30)
+gen.add("lbph_grid_x", int_t, 0, "grid_x parameter used only for LBPH model", 8, 1, 30)
+gen.add("lbph_grid_y", int_t, 0, "grid_y parameter used only for LBPH model", 8, 1, 30)
+
+exit(gen.generate(PACKAGE, "face_recognition", "FaceRecognition"))

launch/face_recognition.launch

@@ -0,0 +1,37 @@
+<launch>
+  <arg name="launch_face_detection" default="true" />
+  <arg name="launch_trainer" default="true" />
+
+  <arg name="use_opencv3" default="false" />
+  <arg name="debug_view" default="true" />
+
+  <arg name="image" default="image" />
+  <arg name="data_dir" default="~/.ros/opencv_apps/face_data" />
+
+  <include file="$(find opencv_apps)/launch/face_detection.launch"
+           if="$(arg launch_face_detection)">
+    <arg name="image" value="$(arg image)" />
+    <arg name="debug_view" value="$(arg debug_view)" />
+    <arg name="node_name" value="face_detection" />
+    <arg name="use_opencv3" value="$(arg use_opencv3)" />
+  </include>
+
+  <node name="face_recognition" pkg="opencv_apps" type="face_recognition"
+        output="screen">
+    <param name="data_dir" value="$(arg data_dir)" />
+    <remap from="image" to="$(arg image)" />
+    <remap from="faces" to="face_detection/faces" />
+  </node>
+
+  <node name="face_recognition_trainer" pkg="opencv_apps" type="face_recognition_trainer.py"
+        if="$(arg launch_trainer)" launch-prefix="xterm -fn 12x24 -e" respawn="true">
+    <remap from="image" to="$(arg image)" />
+    <remap from="faces" to="face_detection/faces" />
+    <remap from="train" to="face_recognition/train" />
+  </node>
+
+  <node name="$(anon debug_image_viewer)" pkg="image_view" type="image_view"
+        if="$(arg debug_view)">
+    <remap from="image" to="face_recognition/debug_image" />
+  </node>
+</launch>

msg/Face.msg

@@ -1,2 +1,3 @@
 Rect face
 Rect[] eyes
+Label label

msg/Label.msg

@@ -0,0 +1,2 @@
+string name
+float64 confidence

nodelet_plugins.xml

@@ -43,6 +43,10 @@
     <description>Nodelet to find faces</description>
   </class>
 
+  <class name="face_recognition/face_recognition" type="face_recognition::FaceRecognitionNodelet" base_class_type="nodelet::Nodelet">
+    <description>Nodelet to identify faces</description>
+  </class>
+
   <class name="goodfeature_track/goodfeature_track" type="goodfeature_track::GoodfeatureTrackNodelet" base_class_type="nodelet::Nodelet">
     <description>Nodelet for detecting corners using Shi-Tomasi method</description>
   </class>

scripts/face_recognition_trainer.py

@@ -0,0 +1,99 @@
+#! /usr/bin/env python
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2014, Kei Okada.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Kei Okada nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>
+
+
+from __future__ import print_function
+
+try:
+    input = raw_input
+except:
+    pass
+
+import rospy
+import message_filters
+from sensor_msgs.msg import Image
+from opencv_apps.msg import FaceArrayStamped
+from opencv_apps.srv import FaceRecognitionTrain, FaceRecognitionTrainRequest
+
+class FaceRecognitionTrainer(object):
+    def __init__(self):
+        self.queue_size = rospy.get_param("~queue_size", 100)
+
+        self.img_sub = message_filters.Subscriber("image", Image)
+        self.face_sub = message_filters.Subscriber("faces", FaceArrayStamped)
+
+        self.req = FaceRecognitionTrainRequest()
+        self.label = ""
+        self.ok = False
+
+        self.sync = message_filters.TimeSynchronizer([self.img_sub, self.face_sub],
+                                                     self.queue_size)
+        self.sync.registerCallback(self.callback)
+    def callback(self, img, faces):
+        if len(faces.faces) <= 0:
+            return
+        if self.ok:
+            faces.faces.sort(key=lambda f: f.face.width * f.face.height)
+            self.req.images.append(img)
+            self.req.rects.append(faces.faces[0].face)
+            self.req.labels.append(self.label)
+            self.ok = False
+    def run(self):
+        rospy.wait_for_service("train")
+        train = rospy.ServiceProxy("train", FaceRecognitionTrain)
+        self.label = input("Please input your name and press Enter: ")
+        while len(self.label) <= 0 or input("Your name is %s. Correct? [y/n]: " % self.label) not in ["", "y", "Y"]:
+            self.label = input("Please input your name and press Enter: ")
+
+        input("Please stand at the center of the camera and press Enter: ")
+        while True:
+            self.ok = True
+            while self.ok:
+                print("taking picture...")
+                rospy.sleep(1)
+            if input("One more picture? [y/n]: ") not in ["", "y", "Y"]:
+                break
+        print("sending to trainer...")
+
+        res = train(self.req)
+        if res.ok:
+            print("OK. Trained successfully!")
+        else:
+            print("NG. Error: %s" % res.error)
+
+if __name__ == '__main__':
+    rospy.init_node("face_recognition_trainer")
+    t = FaceRecognitionTrainer()
+    t.run()